diff --git a/cxx/CMakeLists.txt b/cxx/CMakeLists.txt
index f2642a5..4341ebf 100644
--- a/cxx/CMakeLists.txt
+++ b/cxx/CMakeLists.txt
@@ -132,11 +132,9 @@ target_compile_features(${MCC_LIBRARY} INTERFACE cxx_std_23)
 target_include_directories(${MCC_LIBRARY} INTERFACE ${FITPACK_INCLUDE_DIR})
 
 
-set(ASIBFM700_LIB_SRC asibfm700_hardware.h asibfm700_hardware.cpp)
+set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_hardware.h asibfm700_hardware.cpp)
 set(ASIBFM700_LIB asibfm700)
-add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC}
-    asibfm700_slew_model.h asibfm700_slew_model.cpp
-    asibfm700_common.h)
+add_library(${ASIBFM700_LIB} STATIC ${ASIBFM700_LIB_SRC})
 target_include_directories(${ASIBFM700_LIB} PRIVATE ${FITPACK_INCLUDE_DIR})
 
 # set(MOUNT_SERVER_APP_SRC mount.h mount_state.h mount_server.cpp comm_server.h comm_server_endpoint.h comm_server_configfile.h mount_astrom.h
diff --git a/cxx/asibfm700_common.h b/cxx/asibfm700_common.h
index 64a4ca6..6490b09 100644
--- a/cxx/asibfm700_common.h
+++ b/cxx/asibfm700_common.h
@@ -5,11 +5,12 @@
 /*                          COMMON DEFINITIONS                         */
 
 
+#include "asibfm700_hardware.h"
+#include "mcc_guiding_model.h"
 #include "mcc_mount_astro_erfa.h"
 #include "mcc_mount_pec.h"
 #include "mcc_mount_telemetry.h"
-
-#include "asibfm700_hardware.h"
+#include "mcc_slew_model.h"
 
 namespace asibfm700
 {
@@ -27,6 +28,21 @@ typedef mcc::MccMountTelemetry<AsibFM700AstromEngine,
     AsibFM700Telemetry;
 
 
+typedef mcc::MccSimpleSlewModel<> AsibFM700SlewModel;
+typedef mcc::MccSimpleGuidingModel<> AsibFM700GuidingModel;
+
+
+struct AsibMountControls {
+    AsibMountControls() : telemetry(astrometryEngine, PEC, hardware) {}
+
+    AsibFM700AstromEngine astrometryEngine;
+    AsibFM700PointingErrorCorrection PEC;
+    AsibFM700Hardware hardware;
+    AsibFM700Telemetry telemetry;
+    AsibFM700SlewModel slewModel;
+    AsibFM700GuidingModel guidingModel;
+};
+
 // global mount configuration
 
 struct AsibFM700Config {
diff --git a/cxx/asibfm700_slew_model.cpp b/cxx/asibfm700_slew_model.cpp
deleted file mode 100644
index bd228b4..0000000
--- a/cxx/asibfm700_slew_model.cpp
+++ /dev/null
@@ -1,110 +0,0 @@
-#include "asibfm700_slew_model.h"
-
-
-namespace asibfm700
-{
-
-/*                          error category implementation  */
-
-const char* AsibFM700SlewModelErrorCategory::name() const noexcept
-{
-    return "ASTROSIB FM700 MOUNT SLEW MODEL ERROR CATEGORY";
-}
-
-std::string AsibFM700SlewModelErrorCategory::message(int ec) const
-{
-    AsibFM700SlewModelErrorCode code = static_cast<AsibFM700SlewModelErrorCode>(ec);
-
-    std::string msg;
-
-    switch (code) {
-        case AsibFM700SlewModelErrorCode::ERROR_OK:
-            msg = "OK";
-        default:
-            msg = "UNKNOWN ERROR";
-    }
-
-    return msg;
-}
-
-const AsibFM700SlewModelErrorCategory& AsibFM700SlewModelErrorCategory::get()
-{
-    static const AsibFM700SlewModelErrorCategory constInst;
-    return constInst;
-}
-
-
-AsibFM700SlewModel::AsibFM700SlewModel(AsibFM700Hardware& hw_control, AsibFM700AstromEngine& astrom_engine)
-    : _hwControl(hw_control), _astromEngine(astrom_engine)
-{
-}
-
-
-AsibFM700SlewModel::error_t AsibFM700SlewModel::slew(const slew_params_t& slew_pars, AsibFM700Telemetry& telemetry)
-{
-    using astrom_t = std::remove_reference_t<decltype(_astromEngine)>;
-    using coord_t = typename astrom_t::coord_t;
-    using jd_t = typename astrom_t::juldate_t;
-
-    AsibFM700SlewModel::error_t res_err = AsibFM700SlewModelErrorCode::ERROR_OK;
-
-    AsibFM700Hardware::axes_pos_t ax_pos;
-
-    if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
-        // trivial case (the pair is interpretated as raw encoder coordinates)
-        ax_pos.x = slew_pars.x;
-        ax_pos.y = slew_pars.y;
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {  // catalog coordinates
-        jd_t jd;
-        coord_t ra_app, dec_app, ha, az, alt;
-        typename astrom_t::eo_t eo;
-
-        auto err = _astromEngine.greg2jul(std::chrono::system_clock::now(), jd);
-
-        if (!err) {
-            err = _astromEngine.icrs2obs(slew_pars.x, slew_pars.y, jd, ra_app, dec_app, ha, az, alt, eo);
-
-            if (!err) {
-                res_err = slew({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
-                                .x = ha,
-                                .y = dec_app,
-                                .stop = slew_pars.stop},
-                               telemetry);
-            }
-        }
-
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP) {  // apparent
-        jd_t jd;
-        typename astrom_t::eo_t eo;
-
-        auto err = _astromEngine.greg2jul(std::chrono::system_clock::now(), jd);
-        if (!err) {
-            typename astrom_t::sideral_time_t lst;
-            err = _astromEngine.apparentSiderTime(jd, lst, true);
-
-            if (!err) {
-                err = _astromEngine.eqOrigins(jd, eo);
-                if (!err) {
-                    res_err = slew({.coordPairKind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP,
-                                    .x = lst - slew_pars.x + eo,  // HA = LST - RA_APP + EO
-                                    .y = slew_pars.y,
-                                    .stop = slew_pars.stop},
-                                   telemetry);
-                }
-            }
-        }
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) {  // apparent
-        // compute encoders coordinates
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZALT) {
-    } else if (slew_pars.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZZD) {
-    }
-
-    auto err = _hwControl.setPos(std::move(ax_pos));
-
-    while (true) {
-    }
-
-    return res_err;
-}
-
-}  // namespace asibfm700
diff --git a/cxx/asibfm700_slew_model.h b/cxx/asibfm700_slew_model.h
deleted file mode 100644
index 2f2cb61..0000000
--- a/cxx/asibfm700_slew_model.h
+++ /dev/null
@@ -1,75 +0,0 @@
-#pragma once
-
-/*                          AstroSIB-FM700 FORK MOUNT CONTROL LIBRARY                           */
-
-/*                          SLEW MODEL IMPLEMENTATION                         */
-
-
-#include "asibfm700_common.h"
-
-namespace asibfm700
-{
-
-enum class AsibFM700SlewModelErrorCode : int { ERROR_OK };
-
-// error category
-struct AsibFM700SlewModelErrorCategory : public std::error_category {
-    const char* name() const noexcept;
-    std::string message(int ec) const;
-
-    static const AsibFM700SlewModelErrorCategory& get();
-};
-
-
-inline std::error_code make_error_code(AsibFM700SlewModelErrorCode ec)
-{
-    return std::error_code(static_cast<int>(ec), AsibFM700SlewModelErrorCategory::get());
-}
-
-}  // namespace asibfm700
-
-
-
-namespace std
-{
-
-template <>
-class is_error_code_enum<asibfm700::AsibFM700SlewModelErrorCode> : public true_type
-{
-};
-
-}  // namespace std
-
-
-
-namespace asibfm700
-{
-
-class AsibFM700SlewModel final
-{
-public:
-    typedef std::error_code error_t;
-
-    struct slew_params_t {
-        typedef mcc::MccAngle coord_t;
-
-        mcc::MccCoordPairKind coordPairKind{mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP};
-
-        coord_t x{0.0};
-        coord_t y{0.0};
-
-        bool stop{false};
-    };
-
-    AsibFM700SlewModel(AsibFM700Hardware& hw_control, AsibFM700AstromEngine& astrom_engine);
-
-    ~AsibFM700SlewModel();
-
-    error_t slew(const slew_params_t&, AsibFM700Telemetry&);
-
-private:
-    AsibFM700Hardware& _hwControl;
-    AsibFM700AstromEngine& _astromEngine;
-};
-
-}  // namespace asibfm700
diff --git a/cxx/mcc_guiding_model.h b/cxx/mcc_guiding_model.h
index 565c7f3..cfb6b94 100644
--- a/cxx/mcc_guiding_model.h
+++ b/cxx/mcc_guiding_model.h
@@ -137,13 +137,7 @@ public:
     typedef std::error_code error_t;
 
 
-    struct guiding_point_t : MccCelestialPoint {
-        coord_t corrThresh{(double)MccAngle("00:00:00.2"_dms)};  // correction threshold
-        coord_t correctionRange[2]{(double)MccAngle(0.5_arcsecs), (double)MccAngle(5.0_arcsecs)};
-
-        // timeout to wait telemetry update (in seconds, as floating-point)
-        std::chrono::duration<double> telemetryUpdateTimeout{1.0};
-    };
+    using guiding_point_t = MccSlewAndGuidingPoint;
 
     template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
     MccSimpleGuidingModel(MOUNT_CONTROLS_T& mount_controls, LoggerCtorArgTs&&... ctor_args)
@@ -248,18 +242,21 @@ protected:
 
             while (true) {
                 if (_stopRequested) {
-                    res_err = MccSimpleGuidingModelErrorCode::ERROR_GUIDING_STOPPED;
+                    // return MccSimpleGuidingModelErrorCode::ERROR_GUIDING_STOPPED;
+                    // interpetate stoping as 'no error' exit
+                    return MccSimpleGuidingModelErrorCode::ERROR_OK;
                 }
 
+
+                // suspend the thread here until telemetry data is updated
+                t_err = telemetry.waitForUpdatedData(t_data, guiding_point.telemetryUpdateTimeout);
+
                 // check prohibited zones ...
                 if (mccCheckInZonePZTuple(t_data, p_mount_controls->prohibitedZones, in_zone_flag)) {
                     return MccSimpleGuidingModelErrorCode::ERROR_IN_PROHIBITED_ZONE;
                 };
 
 
-                // suspend the thread here until telemetry data is updated
-                t_err = telemetry.waitForUpdatedData(t_data, guiding_point.telemetryUpdateTimeout);
-
                 if (t_err) {
                     std::string err_str = "An error occured while waiting for updated telemetry";
                     if constexpr (std::same_as<decltype(t_err), error_t>) {
@@ -276,7 +273,8 @@ protected:
                 }
 
                 if (_stopRequested) {
-                    res_err = MccSimpleGuidingModelErrorCode::ERROR_GUIDING_STOPPED;
+                    // interpetate stoping as 'no error' exit
+                    return MccSimpleGuidingModelErrorCode::ERROR_OK;
                 }
 
                 // compare t_data with computed coordinates ...
diff --git a/cxx/mcc_mount_events_states.h b/cxx/mcc_mount_events_states.h
index e5ecbf4..cde889f 100644
--- a/cxx/mcc_mount_events_states.h
+++ b/cxx/mcc_mount_events_states.h
@@ -28,10 +28,7 @@ public:
 
     virtual ~MccMountEventBase() = default;
 
-    mount_t& mount() const
-    {
-        return _mount;
-    }
+    mount_t& mount() const { return _mount; }
 
 protected:
     MccMountEventBase(mount_t& mount) : _mount(mount) {}
@@ -78,10 +75,7 @@ struct MccMountEventError : public MccMountEventBase<MountT> {
 
     using event_data_t = std::error_code;
 
-    event_data_t eventData() const
-    {
-        return _error;
-    }
+    event_data_t eventData() const { return _error; }
 
     MccMountEventError(MountT& mount, const event_data_t& error) : base_t(mount), _error(error) {}
 
@@ -98,12 +92,9 @@ struct MccMountEventSlew : public MccMountEventBase<MountT> {
 
     static constexpr std::string_view ID = "MCC-MOUNT-SLEW-EVENT";
 
-    using event_data_t = typename MountT::slew_params_t;
+    using event_data_t = typename MountT::slew_model_t::slew_point_t;
 
-    event_data_t eventData() const
-    {
-        return _eventData;
-    }
+    event_data_t eventData() const { return _eventData; }
 
     MccMountEventSlew(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
 
@@ -120,9 +111,14 @@ struct MccMountEventGuiding : public MccMountEventBase<MountT> {
 
     static constexpr std::string_view ID = "MCC-MOUNT-GUIDING-EVENT";
 
-    // CTAD does not work for clang++ (at least till v. 20 and -std=c++23)!
-    // so, one must explicitly define constructor here
-    MccMountEventGuiding(MountT& mount) : base_t(mount) {}
+    using event_data_t = typename MountT::guiding_model_t::guiding_point_t;
+
+    event_data_t eventData() const { return _eventData; }
+
+    MccMountEventGuiding(MountT& mount, const event_data_t& ev_data) : base_t(mount), _eventData(ev_data) {}
+
+protected:
+    event_data_t _eventData;
 };
 
 
@@ -139,10 +135,7 @@ struct MccMountEventStop : public MccMountEventBase<MountT> {
         EVENT_STOP_BUTTON   // hardware button
     };
 
-    event_data_t eventData() const
-    {
-        return _reason;
-    }
+    event_data_t eventData() const { return _reason; }
 
     std::string_view reason() const
     {
@@ -286,7 +279,10 @@ struct MccMountStateStop : MccMountStateBase<MountT> {
 
         auto mount = event.mount();
 
-        mount.stopMount();
+        // should one check current state (slewing, guiding)?
+        mount.slewModel.stop();
+        mount.guidingModel.stop();
+        mount.hardware.stop();
 
         if constexpr (std::same_as<EvT, MccMountEventStop<MountT>>) {
             mount.logInfo(std::format("Stop reason: {}", event.reason()));
@@ -446,7 +442,8 @@ struct MccMountStateShutdown : MccMountStateBase<MountT> {
 
 
 // slew state
-
+// WARNING: It must be a friend to 'MountT' class if it inherits it base class mount_controls_t
+//          as protected or private!!!
 template <traits::mcc_fsm_log_mount_c MountT>
 struct MccMountStateSlew : MccMountStateBase<MountT> {
     static constexpr std::string_view ID = "MCC-MOUNT-SLEW-STATE";
@@ -472,7 +469,18 @@ struct MccMountStateSlew : MccMountStateBase<MountT> {
     {
         this->enterLog(event);
 
-        event.mount().slewMount(event.eventData());
+        auto slew_err = event.mount().slewModel.slew(event.eventData());
+        if (slew_err) {
+            if constexpr (std::same_as<decltype(slew_err), std::error_code>) {
+                event.mount().dispatchEvent(MccMountEventError<MountT>{event.mount(), slew_err});
+            } else {
+                // ...
+            }
+            return;
+        }
+
+        // switch to IDLE state
+        event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>({event.mount()});
     }
 };
 
@@ -505,7 +513,17 @@ struct MccMountStateGuiding : MccMountStateBase<MountT> {
     {
         this->enterLog(event);
 
-        event.mount().startGuiding();
+        auto err = event.mount().guidingModel.guiding(event.eventData());
+        if (err) {
+            if constexpr (std::same_as<decltype(err), std::error_code>) {
+                event.mount().dispatchEvent(MccMountEventError<MountT>{event.mount(), err});
+            } else {
+                // ...
+            }
+        }
+
+        // switch to IDLE state
+        event.mount().template dispatchEvent<MccMountEventIDLE<MountT>>({event.mount()});
     }
 };
 
diff --git a/cxx/mcc_mount_telemetry.h b/cxx/mcc_mount_telemetry.h
index c072b6c..5446117 100644
--- a/cxx/mcc_mount_telemetry.h
+++ b/cxx/mcc_mount_telemetry.h
@@ -5,7 +5,6 @@
 
 /*                  MOUNT TELEMETRY OBJECT POSSIBLE GENERIC IMPLEMENTATION                  */
 
-#include <list>
 #include <mutex>
 
 #include "mcc_mount_telemetry_astrom.h"
diff --git a/cxx/mcc_slew_guiding_model_common.h b/cxx/mcc_slew_guiding_model_common.h
index d2a934d..484b1d1 100644
--- a/cxx/mcc_slew_guiding_model_common.h
+++ b/cxx/mcc_slew_guiding_model_common.h
@@ -25,6 +25,55 @@ static_assert(traits::mcc_celestial_point_c<MccCelestialPoint>, "MccCelestialPoi
 
 
 
+/*  COMMON SLEW-AND-GUIDING POINT CLASS DEFINITION  */
+
+struct MccSlewAndGuidingPoint : MccCelestialPoint {
+    // ******* default constants *******
+
+    static constexpr size_t defaultWithinToleranceCycleNumber = 10;
+    static constexpr size_t defaultMaxAdjustingCycleNumber = 100;
+
+    // common parameters
+
+    // timeout to wait telemetry update (in seconds, as floating-point)
+    std::chrono::duration<double> telemetryUpdateTimeout{1.0};
+
+
+    // ******* slewing-related parameters *******
+
+    // target-mount coordinate difference to start adjusting of slewing (in radians)
+    coord_t adjustCoordDiff{(double)MccAngle{10.0_degs}};
+
+    // coordinates difference to stop slewing (in radians)
+    coord_t slewToleranceRadius{(double)MccAngle{5.0_arcsecs}};
+
+    // slew process timeout
+    std::chrono::seconds slewTimeout{3600};
+
+    std::chrono::duration<double> telemetryPollingInterval{0.1};
+
+    // if true - stop mount after the slewing
+    bool stopAfterSlew{false};
+
+    coord_t slewXRate{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
+    coord_t slewYRate{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
+
+    coord_t adjustXRate{(double)MccAngle{5.0_arcmins}};  // maximal adjusting rate (a rate at the final slewing stage)
+    coord_t adjustYRate{(double)MccAngle{5.0_arcmins}};  // maximal adjusting rate (a rate at the final slewing stage)
+
+    // number of consecutive measurements within slewToleranceRadius radius to stop adjusting of slewing
+    size_t withinToleranceCycleNumber{defaultWithinToleranceCycleNumber};
+
+    // maximal allowed number of adjusting cycles
+    size_t maxAdjustingCycleNumber{defaultMaxAdjustingCycleNumber};
+
+
+    // ******* guiding-related parameters *******
+
+    coord_t correctionRange[2]{(double)MccAngle(0.3_arcsecs), (double)MccAngle(5.0_arcsecs)};
+};
+
+
 /*   CHECK FOR CURRENT MOUNT POSITION IN PROHIBITED ZONES    */
 
 template <traits::mcc_mount_telemetry_data_c TelemetryDataT, traits::mcc_prohibited_zone_c<TelemetryDataT>... ZTs>
diff --git a/cxx/mcc_slew_model.h b/cxx/mcc_slew_model.h
index 9064b40..2093673 100644
--- a/cxx/mcc_slew_model.h
+++ b/cxx/mcc_slew_model.h
@@ -121,35 +121,7 @@ public:
 
     static constexpr size_t defaultAdjustSuccessCycles = 5;
 
-    struct slew_point_t : MccCelestialPoint {
-        // target-mount coordinate difference to start adjusting of slewing (in radians)
-        coord_t adjustCoordDiff{(double)MccAngle{10.0_degs}};
-
-        // coordinates difference to stop slewing (in radians)
-        coord_t slewToleranceRadius{(double)MccAngle{5.0_arcsecs}};
-
-        // slew process timeout
-        std::chrono::seconds slewTimeout{3600};
-
-        std::chrono::duration<double> telemetryPollingInterval{0.1};
-
-        // if true - stop mount after the slewing
-        bool stopAfterSlew{false};
-
-        coord_t slewXRate{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
-        coord_t slewYRate{0.0};  // maximal slewing rate (0 means move with maximal allowed rate)
-
-        coord_t adjustXRate{
-            (double)MccAngle{5.0_arcmins}};  // maximal adjusting rate (a rate at the final slewing stage)
-        coord_t adjustYRate{
-            (double)MccAngle{5.0_arcmins}};  // maximal adjusting rate (a rate at the final slewing stage)
-
-        // number of consecutive measurements within slewToleranceRadius radius to stop adjusting of slewing
-        size_t withinToleranceCycleNumber{10};
-
-        // maximal allowed number of adjusting cycles
-        size_t maxAdjustingCycleNumber{100};
-    };
+    using slew_point_t = MccSlewAndGuidingPoint;
 
 
     template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
@@ -233,8 +205,8 @@ protected:
 
             coord_t ra_icrs, dec_icrs;
 
-            if (slew_point.adjustSuccessCycles == 0) {
-                slew_point.adjustSuccessCycles = 5;
+            if (slew_point.withinToleranceCycleNumber == 0) {
+                slew_point.withinToleranceCycleNumber = MccSlewAndGuidingPoint::defaultWithinToleranceCycleNumber;
             }
 
             // first, compute encoder coordinates
@@ -392,16 +364,11 @@ protected:
 
 
             auto start_poll_tm = std::chrono::steady_clock::now();
-            // auto timeout_point = std::chrono::steady_clock::now() + slew_point.slewTimeout;
-            auto wait_timeout = slew_point.slewTimeout / 5;
-            if (wait_timeout < std::chrono::seconds(1)) {
-                wait_timeout = std::chrono::seconds(1);
-            }
 
             // NOTE: TARGET COORDINATES WILL BE UPDATED FOR CURRENT TIME-POINT IN TELEMETRY-CLASS!!!
 
             while (true) {
-                t_err = telemetry.waitForUpdatedData(t_data, wait_timeout);
+                t_err = telemetry.waitForUpdatedData(t_data, slew_point.telemetryUpdateTimeout);
 
                 if (t_err) {
                     std::string err_str = "An error occured while waiting for updated telemetry";