diff --git a/motor/plc.xml b/motor/plc.xml
index 9b49ff8..cd0f0a1 100644
--- a/motor/plc.xml
+++ b/motor/plc.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <project xmlns="http://www.plcopen.org/xml/tc6_0201" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:ns1="http://www.plcopen.org/xml/tc6_0201">
   <fileHeader companyName="Unknown" productName="Unnamed" productVersion="1" creationDateTime="2025-11-14T09:46:22"/>
-  <contentHeader name="Unnamed" modificationDateTime="2025-12-03T00:36:14">
+  <contentHeader name="Unnamed" modificationDateTime="2025-12-03T10:54:12">
     <coordinateInfo>
       <fbd>
         <scaling x="10" y="10"/>
@@ -707,6 +707,14 @@
                 <simpleValue value="T#2s"/>
               </initialValue>
             </variable>
+            <variable name="WAIT4">
+              <type>
+                <TIME/>
+              </type>
+              <initialValue>
+                <simpleValue value="T#15s"/>
+              </initialValue>
+            </variable>
             <variable name="TON1">
               <type>
                 <derived name="TON"/>
@@ -742,6 +750,36 @@
                 <derived name="CTU"/>
               </type>
             </variable>
+            <variable name="TON6">
+              <type>
+                <derived name="TON"/>
+              </type>
+            </variable>
+            <variable name="CTU2">
+              <type>
+                <derived name="CTU"/>
+              </type>
+            </variable>
+            <variable name="TON7">
+              <type>
+                <derived name="TON"/>
+              </type>
+            </variable>
+            <variable name="CTU3">
+              <type>
+                <derived name="CTU"/>
+              </type>
+            </variable>
+            <variable name="TON8">
+              <type>
+                <derived name="TON"/>
+              </type>
+            </variable>
+            <variable name="TON9">
+              <type>
+                <derived name="TON"/>
+              </type>
+            </variable>
           </localVars>
         </interface>
         <body>
@@ -1161,12 +1199,12 @@
               </connectionPointOut>
             </selectionDivergence>
             <transition localId="32" width="20" height="10">
-              <position x="1500" y="760"/>
+              <position x="1530" y="780"/>
               <connectionPointIn>
                 <relPosition x="10" y="0"/>
                 <connection refLocalId="31">
-                  <position x="1510" y="760"/>
-                  <position x="1510" y="740"/>
+                  <position x="1540" y="780"/>
+                  <position x="1540" y="740"/>
                   <position x="1120" y="740"/>
                   <position x="1120" y="741"/>
                   <position x="980" y="741"/>
@@ -1179,8 +1217,8 @@
               <condition>
                 <connectionPointIn>
                   <connection refLocalId="39" formalParameter="OUT">
-                    <position x="1500" y="760"/>
-                    <position x="1490" y="760"/>
+                    <position x="1530" y="780"/>
+                    <position x="1490" y="780"/>
                     <position x="1490" y="855"/>
                     <position x="1580" y="855"/>
                     <position x="1580" y="950"/>
@@ -1193,9 +1231,13 @@
               <position x="1000" y="1090"/>
               <connectionPointIn>
                 <relPosition x="10" y="0"/>
-                <connection refLocalId="58">
+                <connection refLocalId="65">
                   <position x="1010" y="1090"/>
-                  <position x="1010" y="1010"/>
+                  <position x="1010" y="1080"/>
+                  <position x="1040" y="1080"/>
+                  <position x="1040" y="1101"/>
+                  <position x="1070" y="1101"/>
+                  <position x="1070" y="1071"/>
                 </connection>
               </connectionPointIn>
               <connectionPointOut>
@@ -1204,7 +1246,9 @@
               <condition>
                 <connectionPointIn>
                   <connection refLocalId="57" formalParameter="OUT">
-                    <position x="1000" y="1090"/>
+                    <position x="1000" y="1100"/>
+                    <position x="985" y="1100"/>
+                    <position x="985" y="1090"/>
                     <position x="970" y="1090"/>
                   </connection>
                 </connectionPointIn>
@@ -1915,18 +1959,836 @@
             <step localId="58" name="Step3" initialStep="false" width="50" height="30">
               <position x="990" y="980"/>
               <connectionPointIn>
-                <relPosition x="20" y="0"/>
+                <relPosition x="30" y="0"/>
                 <connection refLocalId="17">
-                  <position x="1010" y="980"/>
-                  <position x="1010" y="924"/>
+                  <position x="1020" y="980"/>
+                  <position x="1020" y="924"/>
                   <position x="920" y="924"/>
                   <position x="920" y="760"/>
                 </connection>
               </connectionPointIn>
               <connectionPointOut formalParameter="">
-                <relPosition x="20" y="30"/>
+                <relPosition x="30" y="30"/>
               </connectionPointOut>
             </step>
+            <block localId="60" typeName="TON" instanceName="TON6" width="50" height="60" executionOrderId="0">
+              <position x="920" y="1310"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="62">
+                      <position x="920" y="1340"/>
+                      <position x="890" y="1340"/>
+                      <position x="890" y="1335"/>
+                      <position x="910" y="1335"/>
+                      <position x="910" y="1340"/>
+                      <position x="900" y="1340"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="PT">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="63">
+                      <position x="920" y="1360"/>
+                      <position x="880" y="1360"/>
+                      <position x="880" y="1380"/>
+                      <position x="840" y="1380"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Q">
+                  <connectionPointOut>
+                    <relPosition x="50" y="30"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ET">
+                  <connectionPointOut>
+                    <relPosition x="50" y="50"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="62" width="160" height="30" negated="false" executionOrderId="0">
+              <position x="740" y="1320"/>
+              <connectionPointOut>
+                <relPosition x="160" y="20"/>
+              </connectionPointOut>
+              <expression>not (only_one_run)</expression>
+            </inVariable>
+            <inVariable localId="63" width="50" height="30" negated="false" executionOrderId="0">
+              <position x="790" y="1370"/>
+              <connectionPointOut>
+                <relPosition x="50" y="10"/>
+              </connectionPointOut>
+              <expression>WAIT4</expression>
+            </inVariable>
+            <transition localId="61" width="20" height="10" executionOrderId="0">
+              <position x="1000" y="1300"/>
+              <connectionPointIn>
+                <relPosition x="10" y="0"/>
+                <connection refLocalId="92">
+                  <position x="1010" y="1300"/>
+                  <position x="1010" y="1280"/>
+                  <position x="1060" y="1280"/>
+                  <position x="1060" y="1261"/>
+                </connection>
+              </connectionPointIn>
+              <connectionPointOut>
+                <relPosition x="10" y="10"/>
+              </connectionPointOut>
+              <condition>
+                <connectionPointIn>
+                  <connection refLocalId="60" formalParameter="Q">
+                    <position x="1000" y="1300"/>
+                    <position x="985" y="1300"/>
+                    <position x="985" y="1340"/>
+                    <position x="970" y="1340"/>
+                  </connection>
+                </connectionPointIn>
+              </condition>
+            </transition>
+            <step localId="64" name="Step4" initialStep="false" width="50" height="30">
+              <position x="990" y="1150"/>
+              <connectionPointIn>
+                <relPosition x="30" y="0"/>
+                <connection refLocalId="34">
+                  <position x="1020" y="1150"/>
+                  <position x="1020" y="1125"/>
+                  <position x="1010" y="1125"/>
+                  <position x="1010" y="1100"/>
+                </connection>
+              </connectionPointIn>
+              <connectionPointOut formalParameter="">
+                <relPosition x="30" y="30"/>
+              </connectionPointOut>
+            </step>
+            <transition localId="59" width="20" height="10" executionOrderId="0">
+              <position x="2060" y="1340"/>
+              <connectionPointIn>
+                <relPosition x="10" y="0"/>
+                <connection refLocalId="65">
+                  <position x="2070" y="1340"/>
+                  <position x="2070" y="1081"/>
+                  <position x="1110" y="1081"/>
+                  <position x="1110" y="1071"/>
+                </connection>
+              </connectionPointIn>
+              <connectionPointOut>
+                <relPosition x="10" y="10"/>
+              </connectionPointOut>
+              <condition>
+                <connectionPointIn>
+                  <connection refLocalId="89" formalParameter="OUT">
+                    <position x="2060" y="1340"/>
+                    <position x="2045" y="1340"/>
+                    <position x="2045" y="1350"/>
+                    <position x="2030" y="1350"/>
+                  </connection>
+                </connectionPointIn>
+              </condition>
+            </transition>
+            <selectionDivergence localId="65" width="40" height="1">
+              <position x="1070" y="1070"/>
+              <connectionPointIn>
+                <relPosition x="20" y="0"/>
+                <connection refLocalId="58">
+                  <position x="1090" y="1070"/>
+                  <position x="1090" y="1040"/>
+                  <position x="1020" y="1040"/>
+                  <position x="1020" y="1010"/>
+                </connection>
+              </connectionPointIn>
+              <connectionPointOut formalParameter="">
+                <relPosition x="0" y="1"/>
+              </connectionPointOut>
+              <connectionPointOut formalParameter="">
+                <relPosition x="40" y="1"/>
+              </connectionPointOut>
+            </selectionDivergence>
+            <block localId="67" typeName="EQ" width="70" height="60" executionOrderId="0">
+              <position x="1740" y="1280"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="68" formalParameter="Q">
+                      <position x="1740" y="1310"/>
+                      <position x="1710" y="1310"/>
+                      <position x="1710" y="1240"/>
+                      <position x="1680" y="1240"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="78">
+                      <position x="1740" y="1330"/>
+                      <position x="1700" y="1330"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="70" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="68" typeName="CTU" instanceName="CTU2" width="50" height="80" executionOrderId="0">
+              <position x="1630" y="1210"/>
+              <inputVariables>
+                <variable formalParameter="CU" edge="rising">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="69" formalParameter="OUT">
+                      <position x="1630" y="1240"/>
+                      <position x="1620" y="1240"/>
+                      <position x="1620" y="1210"/>
+                      <position x="1600" y="1210"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="R">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="PV">
+                  <connectionPointIn>
+                    <relPosition x="0" y="70"/>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Q">
+                  <connectionPointOut>
+                    <relPosition x="50" y="30"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="CV">
+                  <connectionPointOut>
+                    <relPosition x="50" y="50"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="69" typeName="NOT" width="60" height="40" executionOrderId="0">
+              <position x="1540" y="1180"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="70" formalParameter="OUT">
+                      <position x="1540" y="1210"/>
+                      <position x="1480" y="1210"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="60" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="70" typeName="AND" width="70" height="60" executionOrderId="0">
+              <position x="1410" y="1180"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="71" formalParameter="Q">
+                      <position x="1410" y="1210"/>
+                      <position x="1385" y="1210"/>
+                      <position x="1385" y="1150"/>
+                      <position x="1340" y="1150"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="74" formalParameter="OUT">
+                      <position x="1410" y="1230"/>
+                      <position x="1385" y="1230"/>
+                      <position x="1385" y="1240"/>
+                      <position x="1340" y="1240"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="70" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="71" typeName="TON" instanceName="TON7" width="50" height="60" executionOrderId="0">
+              <position x="1290" y="1120"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="72">
+                      <position x="1290" y="1150"/>
+                      <position x="1250" y="1150"/>
+                      <position x="1250" y="1130"/>
+                      <position x="1220" y="1130"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="PT">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="73">
+                      <position x="1290" y="1170"/>
+                      <position x="1210" y="1170"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Q">
+                  <connectionPointOut>
+                    <relPosition x="50" y="30"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ET">
+                  <connectionPointOut>
+                    <relPosition x="50" y="50"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="72" width="90" height="30" negated="false" executionOrderId="0">
+              <position x="1130" y="1110"/>
+              <connectionPointOut>
+                <relPosition x="90" y="20"/>
+              </connectionPointOut>
+              <expression>TRUE</expression>
+            </inVariable>
+            <inVariable localId="73" width="50" height="30" negated="false" executionOrderId="0">
+              <position x="1160" y="1150"/>
+              <connectionPointOut>
+                <relPosition x="50" y="20"/>
+              </connectionPointOut>
+              <expression>WAIT3</expression>
+            </inVariable>
+            <block localId="74" typeName="OR" width="70" height="80" executionOrderId="0">
+              <position x="1270" y="1210"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="75">
+                      <position x="1270" y="1240"/>
+                      <position x="1240" y="1240"/>
+                      <position x="1240" y="1230"/>
+                      <position x="1250" y="1230"/>
+                      <position x="1250" y="1210"/>
+                      <position x="1230" y="1210"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="76">
+                      <position x="1270" y="1260"/>
+                      <position x="1250" y="1260"/>
+                      <position x="1250" y="1250"/>
+                      <position x="1230" y="1250"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN3">
+                  <connectionPointIn>
+                    <relPosition x="0" y="70"/>
+                    <connection refLocalId="77">
+                      <position x="1270" y="1280"/>
+                      <position x="1240" y="1280"/>
+                      <position x="1240" y="1290"/>
+                      <position x="1230" y="1290"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="70" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="75" width="60" height="30" negated="false" executionOrderId="0">
+              <position x="1170" y="1200"/>
+              <connectionPointOut>
+                <relPosition x="60" y="10"/>
+              </connectionPointOut>
+              <expression>P1_enc</expression>
+            </inVariable>
+            <inVariable localId="76" width="60" height="30" negated="false" executionOrderId="0">
+              <position x="1170" y="1240"/>
+              <connectionPointOut>
+                <relPosition x="60" y="10"/>
+              </connectionPointOut>
+              <expression>P2_enc</expression>
+            </inVariable>
+            <inVariable localId="77" width="60" height="30" negated="false" executionOrderId="0">
+              <position x="1170" y="1280"/>
+              <connectionPointOut>
+                <relPosition x="60" y="10"/>
+              </connectionPointOut>
+              <expression>P3_enc</expression>
+            </inVariable>
+            <inVariable localId="78" width="20" height="30" negated="false" executionOrderId="0">
+              <position x="1680" y="1320"/>
+              <connectionPointOut>
+                <relPosition x="20" y="10"/>
+              </connectionPointOut>
+              <expression>1</expression>
+            </inVariable>
+            <block localId="79" typeName="EQ" width="70" height="60" executionOrderId="0">
+              <position x="1740" y="1360"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="80" formalParameter="Q">
+                      <position x="1740" y="1390"/>
+                      <position x="1690" y="1390"/>
+                      <position x="1690" y="1410"/>
+                      <position x="1640" y="1410"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="88">
+                      <position x="1740" y="1410"/>
+                      <position x="1710" y="1410"/>
+                      <position x="1710" y="1425"/>
+                      <position x="1720" y="1425"/>
+                      <position x="1720" y="1430"/>
+                      <position x="1700" y="1430"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="70" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="80" typeName="CTU" instanceName="CTU3" width="50" height="80" executionOrderId="0">
+              <position x="1590" y="1380"/>
+              <inputVariables>
+                <variable formalParameter="CU" edge="rising">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="81" formalParameter="OUT">
+                      <position x="1590" y="1410"/>
+                      <position x="1540" y="1410"/>
+                      <position x="1540" y="1390"/>
+                      <position x="1490" y="1390"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="R">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="PV">
+                  <connectionPointIn>
+                    <relPosition x="0" y="70"/>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Q">
+                  <connectionPointOut>
+                    <relPosition x="50" y="30"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="CV">
+                  <connectionPointOut>
+                    <relPosition x="50" y="50"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="81" typeName="AND" width="70" height="60" executionOrderId="0">
+              <position x="1420" y="1360"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="82" formalParameter="Q">
+                      <position x="1420" y="1390"/>
+                      <position x="1340" y="1390"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="85" formalParameter="OUT">
+                      <position x="1420" y="1410"/>
+                      <position x="1380" y="1410"/>
+                      <position x="1380" y="1480"/>
+                      <position x="1340" y="1480"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="70" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="82" typeName="TON" instanceName="TON8" width="50" height="60" executionOrderId="0">
+              <position x="1290" y="1360"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="83">
+                      <position x="1290" y="1390"/>
+                      <position x="1250" y="1390"/>
+                      <position x="1250" y="1370"/>
+                      <position x="1220" y="1370"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="PT">
+                  <connectionPointIn>
+                    <relPosition x="0" y="50"/>
+                    <connection refLocalId="84">
+                      <position x="1290" y="1410"/>
+                      <position x="1210" y="1410"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
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+              <connectionPointOut>
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+                <variable formalParameter="ET">
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+              <connectionPointOut>
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+            </selectionConvergence>
           </SFC>
         </body>
       </pou>
