diff --git a/Auxiliary_utils/LibSidServo/PID.c b/Auxiliary_utils/LibSidServo/PID.c
index 4a3e874..3f642cd 100644
--- a/Auxiliary_utils/LibSidServo/PID.c
+++ b/Auxiliary_utils/LibSidServo/PID.c
@@ -84,49 +84,51 @@ typedef struct{
  * @return calculated new speed or -1 for max speed
  */
 static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t *axis){
-    if(tagpos->t < axis->position.t || tagpos->t - axis->position.t > MCC_PID_MAX_DT){
-        DBG("target time: %g, axis time: %g - too big! (%g)", tagpos->t, axis->position.t, MCC_PID_MAX_DT);
+    double dt = timediff(&tagpos->t, &axis->position.t);
+    if(dt < 0 || dt > Conf.PIDMaxDt){
+        DBG("target time: %ld, axis time: %ld - too big! (tag-ax=%g)", tagpos->t.tv_sec, axis->position.t.tv_sec, dt);
         return axis->speed.val; // data is too old or wrong
     }
     double error = tagpos->val - axis->position.val, fe = fabs(error);
+    DBG("error: %g", error);
     PIDController_t *pid = NULL;
     switch(axis->state){
         case AXIS_SLEWING:
-            if(fe < MCC_MAX_POINTING_ERR){
+            if(fe < Conf.MaxPointingErr){
                 axis->state = AXIS_POINTING;
                 DBG("--> Pointing");
                 pid = pidpair->PIDC;
             }else{
                 DBG("Slewing...");
-                return -1.; // max speed for given axis
+                return NAN; // max speed for given axis
             }
             break;
         case AXIS_POINTING:
-            if(fe < MCC_MAX_GUIDING_ERR){
+            if(fe < Conf.MaxFinePointingErr){
                 axis->state = AXIS_GUIDING;
                 DBG("--> Guiding");
                 pid = pidpair->PIDV;
-            }else if(fe > MCC_MAX_POINTING_ERR){
+            }else if(fe > Conf.MaxPointingErr){
                 DBG("--> Slewing");
                 axis->state = AXIS_SLEWING;
-                return -1.;
+                return NAN;
             } else pid = pidpair->PIDC;
             break;
         case AXIS_GUIDING:
             pid = pidpair->PIDV;
-            if(fe > MCC_MAX_GUIDING_ERR){
+            if(fe > Conf.MaxFinePointingErr){
                 DBG("--> Pointing");
                 axis->state = AXIS_POINTING;
                 pid = pidpair->PIDC;
-            }else if(fe < MCC_MAX_ATTARGET_ERR){
+            }else if(fe < Conf.MaxGuidingErr){
                 DBG("At target");
                 // TODO: we can point somehow that we are at target or introduce new axis state
             }else DBG("Current error: %g", fe);
             break;
         case AXIS_STOPPED: // start pointing to target; will change speed next time
-            DBG("AXIS STOPPED!!!!");
+            DBG("AXIS STOPPED!!!! --> Slewing");
             axis->state = AXIS_SLEWING;
-            return -1.;
+            return getspeed(tagpos, pidpair, axis);
         case AXIS_ERROR:
             DBG("Can't move from erroneous state");
             return 0.;
@@ -135,16 +137,16 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
         DBG("WTF? Where is a PID?");
         return axis->speed.val;
     }
-    if(tagpos->t < pid->prevT || tagpos->t - pid->prevT > MCC_PID_MAX_DT){
+    double dtpid = timediff(&tagpos->t, &pid->prevT);
+    if(dtpid < 0 || dtpid > Conf.PIDMaxDt){
         DBG("time diff too big: clear PID");
         pid_clear(pid);
     }
-    double dt = tagpos->t - pid->prevT;
-    if(dt > MCC_PID_MAX_DT) dt = MCC_PID_CYCLE_TIME;
+    if(dtpid > Conf.PIDMaxDt) dtpid = Conf.PIDCycleDt;
     pid->prevT = tagpos->t;
-    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dt, axis->state);
-    double tagspeed = pid_calculate(pid, error, dt);
-    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dt; // velocity-based
+    DBG("CALC PID (er=%g, dt=%g), state=%d", error, dtpid, axis->state);
+    double tagspeed = pid_calculate(pid, error, dtpid);
+    if(axis->state == AXIS_GUIDING) return axis->speed.val + tagspeed / dtpid; // velocity-based
     return tagspeed; // coordinate-based
 }
 
@@ -154,22 +156,23 @@ static double getspeed(const coordval_t *tagpos, PIDpair_t *pidpair, axisdata_t
  * @param endpoint - stop point (some far enough point to stop in case of hang)
  * @return error code
  */
-mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoint){
+mcc_errcodes_t correct2(const coordval_pair_t *target){
     static PIDpair_t pidX = {0}, pidY = {0};
     if(!pidX.PIDC){
-        pidX.PIDC = pid_create(&Conf.XPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDC = pid_create(&Conf.XPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidX.PIDC) return MCC_E_FATAL;
-        pidX.PIDV = pid_create(&Conf.XPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidX.PIDV = pid_create(&Conf.XPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidX.PIDV) return MCC_E_FATAL;
     }
     if(!pidY.PIDC){
-        pidY.PIDC = pid_create(&Conf.YPIDC, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDC = pid_create(&Conf.YPIDC, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidY.PIDC) return MCC_E_FATAL;
-        pidY.PIDV = pid_create(&Conf.YPIDV, MCC_PID_CYCLE_TIME / MCC_PID_REFRESH_DT);
+        pidY.PIDV = pid_create(&Conf.YPIDV, Conf.PIDCycleDt / Conf.PIDRefreshDt);
         if(!pidY.PIDV) return MCC_E_FATAL;
     }
     mountdata_t m;
-    coordpair_t tagspeed;
+    coordpair_t tagspeed; // absolute value of speed
+    double Xsign = 1., Ysign = 1.; // signs of speed (for target calculation)
     if(MCC_E_OK != Mount.getMountData(&m)) return MCC_E_FAILED;
     axisdata_t axis;
     DBG("state: %d/%d", m.Xstate, m.Ystate);
@@ -177,20 +180,42 @@ mcc_errcodes_t correct2(const coordval_pair_t *target, const coordpair_t *endpoi
     axis.position = m.encXposition;
     axis.speed = m.encXspeed;
     tagspeed.X = getspeed(&target->X, &pidX, &axis);
-    if(tagspeed.X < 0.) tagspeed.X = -tagspeed.X;
-    if(tagspeed.X > MCC_MAX_X_SPEED) tagspeed.X = MCC_MAX_X_SPEED;
+    if(isnan(tagspeed.X)){ // max speed
+        if(target->X.val < axis.position.val) Xsign = -1.;
+        tagspeed.X = Xlimits.max.speed;
+    }else{
+        if(tagspeed.X < 0.){ tagspeed.X = -tagspeed.X; Xsign = -1.; }
+        if(tagspeed.X > Xlimits.max.speed) tagspeed.X = Xlimits.max.speed;
+    }
     axis_status_t xstate = axis.state;
     axis.state = m.Ystate;
     axis.position = m.encYposition;
     axis.speed = m.encYspeed;
     tagspeed.Y = getspeed(&target->Y, &pidY, &axis);
-    if(tagspeed.Y < 0.) tagspeed.Y = -tagspeed.Y;
-    if(tagspeed.Y > MCC_MAX_Y_SPEED) tagspeed.Y = MCC_MAX_Y_SPEED;
+    if(isnan(tagspeed.Y)){ // max speed
+        if(target->Y.val < axis.position.val) Ysign = -1.;
+        tagspeed.Y = Ylimits.max.speed;
+    }else{
+        if(tagspeed.Y < 0.){ tagspeed.Y = -tagspeed.Y; Ysign = -1.; }
+        if(tagspeed.Y > Ylimits.max.speed) tagspeed.Y = Ylimits.max.speed;
+    }
     axis_status_t ystate = axis.state;
     if(m.Xstate != xstate || m.Ystate != ystate){
         DBG("State changed");
         setStat(xstate, ystate);
     }
-    DBG("TAG speeds: %g/%g", tagspeed.X, tagspeed.Y);
-    return Mount.moveWspeed(endpoint, &tagspeed);
+    coordpair_t endpoint;
+    // allow at least PIDMaxDt moving with target speed
+    double dv = fabs(tagspeed.X - m.encXspeed.val);
+    double adder = dv/Xlimits.max.accel * (m.encXspeed.val + dv / 2.) // distanse with changing speed
+                   + Conf.PIDMaxDt * tagspeed.X // PIDMaxDt const speed moving
+                   + tagspeed.X * tagspeed.X / Xlimits.max.accel / 2.; // stopping
+    endpoint.X = m.encXposition.val + Xsign * adder;
+    dv = fabs(tagspeed.Y - m.encYspeed.val);
+    adder = dv/Ylimits.max.accel * (m.encYspeed.val + dv / 2.)
+            + Conf.PIDMaxDt * tagspeed.Y
+            + tagspeed.Y * tagspeed.Y / Ylimits.max.accel / 2.;
+    endpoint.Y = m.encYposition.val + Ysign * adder;
+    DBG("TAG speeds: %g/%g (deg/s); TAG pos: %g/%g (deg)", tagspeed.X/M_PI*180., tagspeed.Y/M_PI*180., endpoint.X/M_PI*180., endpoint.Y/M_PI*180.);
+    return Mount.moveWspeed(&endpoint, &tagspeed);
 }
diff --git a/Auxiliary_utils/LibSidServo/PID.h b/Auxiliary_utils/LibSidServo/PID.h
index 5eb8cb9..5ecfad0 100644
--- a/Auxiliary_utils/LibSidServo/PID.h
+++ b/Auxiliary_utils/LibSidServo/PID.h
@@ -27,7 +27,7 @@ typedef struct {
     double prev_error;  // Previous error
     double integral;    // Integral term
     double *pidIarray;  // array for Integral
-    double prevT;       // time of previous correction
+    struct timespec prevT; // time of previous correction
     size_t pidIarrSize; // it's size
     size_t curIidx;     // and index of current element
 } PIDController_t;
@@ -37,4 +37,4 @@ void pid_clear(PIDController_t *pid);
 void pid_delete(PIDController_t **pid);
 double pid_calculate(PIDController_t *pid, double error, double dt);
 
-mcc_errcodes_t  correct2(const coordval_pair_t *target, const coordpair_t *endpoint);
+mcc_errcodes_t  correct2(const coordval_pair_t *target);
diff --git a/Auxiliary_utils/LibSidServo/examples/conf.c b/Auxiliary_utils/LibSidServo/examples/conf.c
index 5439925..9db5981 100644
--- a/Auxiliary_utils/LibSidServo/examples/conf.c
+++ b/Auxiliary_utils/LibSidServo/examples/conf.c
@@ -24,25 +24,32 @@
 static conf_t Config = {
     .MountDevPath = "/dev/ttyUSB0",
     .MountDevSpeed = 19200,
-    .EncoderXDevPath = "/dev/encoderX0",
-    .EncoderYDevPath = "/dev/encoderY0",
+    .EncoderXDevPath = "/dev/encoder_X0",
+    .EncoderYDevPath = "/dev/encoder_Y0",
     .EncoderDevSpeed = 153000,
     .MountReqInterval = 0.1,
-    .EncoderReqInterval = 0.05,
+    .EncoderReqInterval = 0.001,
     .SepEncoder = 2,
-    .EncoderSpeedInterval = 0.1,
-    .XPIDC.P = 0.8,
+    .EncoderSpeedInterval = 0.05,
+    .EncodersDisagreement = 1e-5, // 2''
+    .PIDMaxDt = 1.,
+    .PIDRefreshDt = 0.1,
+    .PIDCycleDt = 5.,
+    .XPIDC.P = 0.5,
     .XPIDC.I = 0.1,
-    .XPIDC.D = 0.3,
-    .XPIDV.P = 1.,
-    .XPIDV.I = 0.01,
-    .XPIDV.D = 0.2,
-    .YPIDC.P = 0.8,
+    .XPIDC.D = 0.2,
+    .XPIDV.P = 0.09,
+    .XPIDV.I = 0.0,
+    .XPIDV.D = 0.05,
+    .YPIDC.P = 0.5,
     .YPIDC.I = 0.1,
-    .YPIDC.D = 0.3,
-    .YPIDV.P = 0.5,
-    .YPIDV.I = 0.2,
-    .YPIDV.D = 0.5,
+    .YPIDC.D = 0.2,
+    .YPIDV.P = 0.09,
+    .YPIDV.I = 0.0,
+    .YPIDV.D = 0.05,
+    .MaxPointingErr = 0.13962634,
+    .MaxFinePointingErr = 0.026179939,
+    .MaxGuidingErr = 4.8481368e-7,
 };
 
 static sl_option_t opts[] = {
@@ -50,13 +57,17 @@ static sl_option_t opts[] = {
     {"MountDevSpeed",   NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.MountDevSpeed),    "serial speed of mount device"},
     {"EncoderDevPath",  NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderDevPath),   "path to encoder device"},
     {"EncoderDevSpeed", NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.EncoderDevSpeed),  "serial speed of encoder device"},
-    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
-    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
     {"SepEncoder",      NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.SepEncoder),       "encoder is separate device (1 - one device, 2 - two devices)"},
     {"EncoderXDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderXDevPath),  "path to X encoder (/dev/encoderX0)"},
     {"EncoderYDevPath", NEED_ARG,   NULL,   0,  arg_string, APTR(&Config.EncoderYDevPath),  "path to Y encoder (/dev/encoderY0)"},
+    {"EncodersDisagreement", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncodersDisagreement),"acceptable disagreement between motor and axis encoders"},
+    {"MountReqInterval",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MountReqInterval), "interval of mount requests (not less than 0.05s)"},
+    {"EncoderReqInterval",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.EncoderReqInterval),"interval of encoder requests (in case of sep=2)"},
     {"EncoderSpeedInterval", NEED_ARG,NULL, 0,  arg_double, APTR(&Config.EncoderSpeedInterval),"interval of speed calculations, s"},
     {"RunModel",        NEED_ARG,   NULL,   0,  arg_int,    APTR(&Config.RunModel),         "instead of real hardware run emulation"},
+    {"PIDMaxDt",        NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDMaxDt),         "maximal PID refresh time interval (if larger all old data will be cleared)"},
+    {"PIDRefreshDt",    NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDRefreshDt),     "normal PID refresh interval by master process"},
+    {"PIDCycleDt",      NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.PIDCycleDt),       "PID I cycle time (analog of \"RC\" for PID on opamps)"},
     {"XPIDCP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.P),          "P of X PID (coordinate driven)"},
     {"XPIDCI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.I),          "I of X PID (coordinate driven)"},
     {"XPIDCD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.XPIDC.D),          "D of X PID (coordinate driven)"},
@@ -69,6 +80,10 @@ static sl_option_t opts[] = {
     {"YPIDVP",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.P),          "P of Y PID (velocity driven)"},
     {"YPIDVI",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.I),          "I of Y PID (velocity driven)"},
     {"YPIDVD",          NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.YPIDV.D),          "D of Y PID (velocity driven)"},
+    {"MaxPointingErr",  NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxPointingErr),   "if angle < this, change state from \"slewing\" to \"pointing\" (coarse pointing): 8 degrees"},
+    {"MaxFinePointingErr",NEED_ARG, NULL,   0,  arg_double, APTR(&Config.MaxFinePointingErr), "if angle < this, chane state from \"pointing\" to \"guiding\" (fine poinging): 1.5 deg"},
+    {"MaxGuidingErr",   NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.MaxGuidingErr),    "if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''"},
+    // {"",NEED_ARG,   NULL,   0,  arg_double, APTR(&Config.), ""},
     end_option
 };
 
@@ -93,5 +108,5 @@ void dumpConf(){
 }
 
 void confHelp(){
-    sl_showhelp(-1, opts);
+    sl_conf_showhelp(-1, opts);
 }
diff --git a/Auxiliary_utils/LibSidServo/examples/dump.c b/Auxiliary_utils/LibSidServo/examples/dump.c
index 6bb6620..de111ed 100644
--- a/Auxiliary_utils/LibSidServo/examples/dump.c
+++ b/Auxiliary_utils/LibSidServo/examples/dump.c
@@ -24,7 +24,7 @@
 #include "simpleconv.h"
 
 // starting dump time (to conform different logs)
-static double dumpT0 = -1.;
+static struct timespec dumpT0 = {0};
 
 #if 0
 // amount of elements used for encoders' data filtering
@@ -63,7 +63,9 @@ static double filter(double val, int idx){
 #endif
 
 // return starting time of dump
-double dumpt0(){ return dumpT0; }
+void dumpt0(struct timespec *t){
+    if(t) *t = dumpT0;
+}
 
 
 /**
@@ -75,12 +77,12 @@ void logmnt(FILE *fcoords, mountdata_t *m){
     if(!fcoords) return;
     //DBG("LOG %s", m ? "data" : "header");
     if(!m){ // write header
-        fprintf(fcoords, "#     time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
+        fprintf(fcoords, "      time    Xmot(deg)   Ymot(deg) Xenc(deg)  Yenc(deg)   VX(d/s)    VY(d/s)     millis\n");
         return;
-    }else if(dumpT0 < 0.) dumpT0 = m->encXposition.t;
+    }else if(dumpT0.tv_sec == 0) dumpT0 = m->encXposition.t;
     // write data
     fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            m->encXposition.t - dumpT0, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
+            Mount.timeDiff(&m->encXposition.t, &dumpT0), RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
             RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
             RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
             m->millis);
@@ -106,16 +108,17 @@ void dumpmoving(FILE *fcoords, double t, int N){
         LOGWARN("Can't get mount data");
     }
     uint32_t mdmillis = mdata.millis;
-    double enct = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+    struct timespec encXt = mdata.encXposition.t;
     int ctr = -1;
     double xlast = mdata.motXposition.val, ylast = mdata.motYposition.val;
-    double t0 = Mount.currentT();
-    while(Mount.currentT() - t0 < t && ctr < N){
+    double t0 = Mount.timeFromStart();
+    while(Mount.timeFromStart() - t0 < t && ctr < N){
         usleep(1000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
-        double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
-        if(tmsr == enct) continue;
-        enct = tmsr;
+        //double tmsr = (mdata.encXposition.t + mdata.encYposition.t) / 2.;
+        struct timespec msrt = mdata.encXposition.t;
+        if(msrt.tv_nsec == encXt.tv_nsec) continue;
+        encXt = msrt;
         if(fcoords) logmnt(fcoords, &mdata);
         if(mdata.millis == mdmillis) continue;
         //DBG("ctr=%d, motpos=%g/%g", ctr, mdata.motXposition.val, mdata.motYposition.val);
@@ -126,7 +129,7 @@ void dumpmoving(FILE *fcoords, double t, int N){
             ctr = 0;
         }else ++ctr;
     }
-    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.currentT() - t0);
+    DBG("Exit dumping; tend=%g, tmon=%g", t, Mount.timeFromStart() - t0);
 }
 
 /**
@@ -137,18 +140,15 @@ void waitmoving(int N){
     mountdata_t mdata;
     int ctr = -1;
     uint32_t millis = 0;
-    double xlast = 0., ylast = 0.;
+    //double xlast = 0., ylast = 0.;
+    DBG("Wait moving for %d stopped times", N);
     while(ctr < N){
         usleep(10000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
         if(mdata.millis == millis) continue;
         millis = mdata.millis;
-        if(mdata.motXposition.val != xlast || mdata.motYposition.val != ylast){
-            xlast = mdata.motXposition.val;
-            ylast = mdata.motYposition.val;
-            //DBG("x/y: %g/%g", RAD2DEG(xlast), RAD2DEG(ylast));
-            ctr = 0;
-        }else ++ctr;
+        if(mdata.Xstate != AXIS_STOPPED || mdata.Ystate != AXIS_STOPPED) ctr = 0;
+        else ++ctr;
     }
 }
 
diff --git a/Auxiliary_utils/LibSidServo/examples/dump.h b/Auxiliary_utils/LibSidServo/examples/dump.h
index 0089539..0731f2e 100644
--- a/Auxiliary_utils/LibSidServo/examples/dump.h
+++ b/Auxiliary_utils/LibSidServo/examples/dump.h
@@ -27,4 +27,4 @@ void dumpmoving(FILE *fcoords, double t, int N);
 void waitmoving(int N);
 int getPos(coordval_pair_t *mot, coordval_pair_t *enc);
 void chk0(int ncycles);
-double dumpt0();
+void dumpt0(struct timespec *t);
diff --git a/Auxiliary_utils/LibSidServo/examples/dumpmoving.c b/Auxiliary_utils/LibSidServo/examples/dumpmoving.c
index f979590..9b0c111 100644
--- a/Auxiliary_utils/LibSidServo/examples/dumpmoving.c
+++ b/Auxiliary_utils/LibSidServo/examples/dumpmoving.c
@@ -73,6 +73,7 @@ int main(int argc, char **argv){
     conf_t *Config = readServoConf(G.conffile);
     if(!Config){
         dumpConf();
+        confHelp();
         return 1;
     }
     if(G.coordsoutput){
diff --git a/Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c b/Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c
index 487d826..07d5b71 100644
--- a/Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c
+++ b/Auxiliary_utils/LibSidServo/examples/dumpmoving_dragNtrack.c
@@ -139,8 +139,10 @@ static mcc_errcodes_t return2zero(){
     short_command_t cmd = {0};
     DBG("Try to move to zero");
     cmd.Xmot = 0.; cmd.Ymot = 0.;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    coordpair_t maxspd;
+    if(MCC_E_OK != Mount.getMaxSpeed(&maxspd)) return MCC_E_FAILED;
+    cmd.Xspeed = maxspd.X;
+    cmd.Yspeed = maxspd.Y;
     /*cmd.xychange = 1;
     cmd.XBits = 100;
     cmd.YBits = 20;*/
diff --git a/Auxiliary_utils/LibSidServo/examples/dumpswing.c b/Auxiliary_utils/LibSidServo/examples/dumpswing.c
index 01002ab..4d4b51f 100644
--- a/Auxiliary_utils/LibSidServo/examples/dumpswing.c
+++ b/Auxiliary_utils/LibSidServo/examples/dumpswing.c
@@ -83,7 +83,7 @@ void waithalf(double t){
     uint32_t millis = 0;
     double xlast = 0., ylast = 0.;
     while(ctr < 5){
-        if(Mount.currentT() >= t) return;
+        if(Mount.timeFromStart() >= t) return;
         usleep(1000);
         if(MCC_E_OK != Mount.getMountData(&mdata)){ WARNX("Can't get data"); continue;}
         if(mdata.millis == millis) continue;
@@ -158,24 +158,24 @@ int main(int argc, char **argv){
     }else{
         tagX = 0.; tagY = DEG2RAD(G.amplitude);
     }
-    double t = Mount.currentT(), t0 = t;
+    double t = Mount.timeFromStart(), t0 = t;
     coordpair_t tag = {.X = tagX, .Y = tagY}, rtag = {.X = -tagX, .Y = -tagY};
     double divide = 2.;
     for(int i = 0; i < G.Nswings; ++i){
         Mount.moveTo(&tag);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
         t += G.period / divide;
         divide = 1.;
         waithalf(t);
         DBG("Moved to +, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
         Mount.moveTo(&rtag);
         t += G.period;
         waithalf(t);
         DBG("Moved to -, t=%g", t-t0);
-        DBG("CMD: %g", Mount.currentT()-t0);
+        DBG("CMD: %g", Mount.timeFromStart()-t0);
     }
-    green("Move to zero @ %g\n", Mount.currentT());
+    green("Move to zero @ %g\n", Mount.timeFromStart());
     tag = (coordpair_t){0};
     // be sure to move @ 0,0
     if(MCC_E_OK != Mount.moveTo(&tag)){
diff --git a/Auxiliary_utils/LibSidServo/examples/goto.c b/Auxiliary_utils/LibSidServo/examples/goto.c
index a9a68e1..6c5cadc 100644
--- a/Auxiliary_utils/LibSidServo/examples/goto.c
+++ b/Auxiliary_utils/LibSidServo/examples/goto.c
@@ -91,8 +91,7 @@ int main(int _U_ argc, char _U_ **argv){
     if(MCC_E_OK != Mount.init(Config)) ERRX("Can't init mount");
     coordval_pair_t M, E;
     if(!getPos(&M, &E)) ERRX("Can't get current position");
-    printf("Current time: %.10f\n", Mount.currentT());
-    DBG("xt: %g, x: %g", M.X.t, M.X.val);
+    printf("Current time: %.10f\n", Mount.timeFromStart());
     if(G.coordsoutput){
         if(!G.wait) green("When logging I should wait until moving ends; added '-w'\n");
         G.wait = 1;
diff --git a/Auxiliary_utils/LibSidServo/examples/scmd_traectory.c b/Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
index 3d0e81c..67ad655 100644
--- a/Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
+++ b/Auxiliary_utils/LibSidServo/examples/scmd_traectory.c
@@ -44,6 +44,7 @@ typedef struct{
     char *conffile;
 } parameters;
 
+static conf_t *Config = NULL;
 static FILE *fcoords = NULL, *errlog = NULL;
 static pthread_t dthr;
 static parameters G = {
@@ -96,38 +97,35 @@ static void runtraectory(traectory_fn tfn){
     if(!tfn) return;
     coordval_pair_t telXY;
     coordval_pair_t target;
-    coordpair_t traectXY, endpoint;
-    endpoint.X = G.Xmax, endpoint.Y = G.Ymax;
-    double t0 = dumpt0(), tlast = 0., tstart = Mount.currentT();
-    double tlastX = 0., tlastY = 0.;
+    coordpair_t traectXY;
+    double tlast = 0., tstart = Mount.timeFromStart();
+    long tlastXnsec = 0, tlastYnsec = 0;
+    struct timespec tcur, t0 = {0};
+    dumpt0(&t0);
     while(1){
         if(!telpos(&telXY)){
             WARNX("No next telescope position");
             return;
         }
-        if(telXY.X.t == tlastX && telXY.Y.t == tlastY) continue; // last measure - don't mind
-        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f) measured @ %.6f/%.6f", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val), telXY.X.t, telXY.Y.t);
-        tlastX = telXY.X.t; tlastY = telXY.Y.t;
-        double t = Mount.currentT();
+        if(!Mount.currentT(&tcur)) continue;
+        if(telXY.X.t.tv_nsec == tlastXnsec && telXY.Y.t.tv_nsec == tlastYnsec) continue; // last measure - don't mind
+        DBG("\n\nTELPOS: %g'/%g' (%.6f/%.6f)", RAD2AMIN(telXY.X.val), RAD2AMIN(telXY.Y.val), RAD2DEG(telXY.X.val), RAD2DEG(telXY.Y.val));
+        tlastXnsec = telXY.X.t.tv_nsec; tlastYnsec = telXY.Y.t.tv_nsec;
+        double t = Mount.timeFromStart();
         if(fabs(telXY.X.val) > G.Xmax || fabs(telXY.Y.val) > G.Ymax || t - tstart > G.tmax) break;
         if(!traectory_point(&traectXY, t)) break;
         target.X.val = traectXY.X; target.Y.val = traectXY.Y;
-        target.X.t = target.Y.t = t;
-        // check whether we should change direction
-        if(telXY.X.val > traectXY.X) endpoint.X = -G.Xmax;
-        else if(telXY.X.val < traectXY.X) endpoint.X = G.Xmax;
-        if(telXY.Y.val > traectXY.Y) endpoint.Y = -G.Ymax;
-        else if(telXY.Y.val < traectXY.Y) endpoint.Y = G.Ymax;
-        if(t0 < 0.) t0 = dumpt0();
+        target.X.t = target.Y.t = tcur;
+        if(t0.tv_nsec == 0 && t0.tv_sec == 0) dumpt0(&t0);
         else{
             //DBG("target: %g'/%g'", RAD2AMIN(traectXY.X), RAD2AMIN(traectXY.Y));
-            DBG("%g: dX=%.4f'', dY=%.4f''", t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+            DBG("%g: dX=%.4f'', dY=%.4f''", t-tstart, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
             //DBG("Correct to: %g/%g with EP %g/%g", RAD2DEG(target.X.val), RAD2DEG(target.Y.val), RAD2DEG(endpoint.X), RAD2DEG(endpoint.Y));
             if(errlog)
-                fprintf(errlog, "%10.4f  %10.4f  %10.4f\n", telXY.X.t-t0, RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
+                fprintf(errlog, "%10.4f  %10.4f  %10.4f\n", Mount.timeDiff(&telXY.X.t, &t0), RAD2ASEC(traectXY.X-telXY.X.val), RAD2ASEC(traectXY.Y-telXY.Y.val));
         }
-        if(MCC_E_OK != Mount.correctTo(&target, &endpoint)) WARNX("Error of correction!");
-        while((t = Mount.currentT()) - tlast < MCC_PID_REFRESH_DT) usleep(50);
+        if(MCC_E_OK != Mount.correctTo(&target)) WARNX("Error of correction!");
+        while((t = Mount.timeFromStart()) - tlast < Config->PIDRefreshDt) usleep(500);
         tlast = t;
     }
     WARNX("No next traectory point or emulation ends");
@@ -153,7 +151,7 @@ int main(int argc, char **argv){
         if(!(fcoords = fopen(G.coordsoutput, "w")))
             ERRX("Can't open %s", G.coordsoutput);
     }else fcoords = stdout;
-    conf_t *Config = readServoConf(G.conffile);
+    Config = readServoConf(G.conffile);
     if(!Config || G.dumpconf){
         dumpConf();
         return 1;
diff --git a/Auxiliary_utils/LibSidServo/examples/traectories.c b/Auxiliary_utils/LibSidServo/examples/traectories.c
index 1baac90..e51f15a 100644
--- a/Auxiliary_utils/LibSidServo/examples/traectories.c
+++ b/Auxiliary_utils/LibSidServo/examples/traectories.c
@@ -41,7 +41,7 @@ int init_traectory(traectory_fn f, coordpair_t *XY0){
     if(!f || !XY0) return FALSE;
     cur_traectory = f;
     XYstart = *XY0;
-    tstart = Mount.currentT();
+    tstart = Mount.timeFromStart();
     mountdata_t mdata;
     int ntries = 0;
     for(; ntries < 10; ++ntries){
diff --git a/Auxiliary_utils/LibSidServo/libsidservo.creator.user b/Auxiliary_utils/LibSidServo/libsidservo.creator.user
index c62ce51..d12d482 100644
--- a/Auxiliary_utils/LibSidServo/libsidservo.creator.user
+++ b/Auxiliary_utils/LibSidServo/libsidservo.creator.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 17.0.2, 2025-11-01T14:58:43. -->
+<!-- Written by QtCreator 18.0.0, 2025-12-08T13:32:37. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -86,6 +86,7 @@
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
     <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
    </valuemap>
+   <value type="int" key="RcSync">0</value>
   </valuemap>
  </data>
  <data>
@@ -164,6 +165,7 @@
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
      <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
      <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
      <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
      <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
     </valuemap>
@@ -198,6 +200,7 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    </valuemap>
@@ -208,10 +211,6 @@
   <variable>ProjectExplorer.Project.TargetCount</variable>
   <value type="qlonglong">1</value>
  </data>
- <data>
-  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
-  <value type="int">22</value>
- </data>
  <data>
   <variable>Version</variable>
   <value type="int">22</value>
diff --git a/Auxiliary_utils/LibSidServo/main.c b/Auxiliary_utils/LibSidServo/main.c
index 5fe1b9d..b56811b 100644
--- a/Auxiliary_utils/LibSidServo/main.c
+++ b/Auxiliary_utils/LibSidServo/main.c
@@ -32,39 +32,80 @@
 #include "ssii.h"
 #include "PID.h"
 
+// adder for monotonic time by realtime: inited any call of init()
+static struct timespec timeadder = {0}, // adder of CLOCK_REALTIME to CLOCK_MONOTONIC
+    t0 = {0},           // curtime() for initstarttime() call
+    starttime = {0};    // starting time by monotonic (for timefromstart())
+
 conf_t Conf = {0};
 // parameters for model
 static movemodel_t *Xmodel, *Ymodel;
+// limits for model and/or real mount (in latter case data should be read from mount on init)
 // radians, rad/sec, rad/sec^2
-static limits_t
+// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
+// accelerations: xa=12.6 deg/s^2, ya= 9.5 deg/s^2
+limits_t
     Xlimits = {
         .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_X_SPEED, .accel = MCC_X_ACCELERATION}},
+        .max = {.coord = 3.1241, .speed = 0.174533, .accel = 0.219911}},
     Ylimits = {
         .min = {.coord = -3.1241, .speed = 1e-10, .accel = 1e-6},
-        .max = {.coord = 3.1241, .speed = MCC_MAX_Y_SPEED, .accel = MCC_Y_ACCELERATION}}
+        .max = {.coord = 3.1241, .speed = 0.139626, .accel = 0.165806}}
 ;
 static mcc_errcodes_t shortcmd(short_command_t *cmd);
 
 /**
- * @brief nanotime - monotonic time from first run
- * @return time in seconds
+ * @brief curtime - monotonic time from first run
+ * @param t - struct timespec by CLOCK_MONOTONIC but with setpoint by CLOCK_REALTIME on observations start
+ * @return TRUE if all OK
+ * FIXME: double -> struct timespec; on init: init t0 by CLOCK_REALTIME
  */
-double nanotime(){
-    static double t0 = -1.;
+int curtime(struct timespec *t){
+    struct timespec now;
+    if(clock_gettime(CLOCK_MONOTONIC, &now)) return FALSE;
+    now.tv_sec += timeadder.tv_sec;
+    now.tv_nsec += timeadder.tv_nsec;
+    if(now.tv_nsec > 999999999L){
+        ++now.tv_sec;
+        now.tv_nsec -= 1000000000L;
+    }
+    if(t) *t = now;
+    return TRUE;
+}
+
+// init starttime; @return TRUE if all OK
+static int initstarttime(){
+    struct timespec start;
+    if(clock_gettime(CLOCK_MONOTONIC, &starttime)) return FALSE;
+    if(clock_gettime(CLOCK_REALTIME, &start)) return FALSE;
+    timeadder.tv_sec = start.tv_sec - starttime.tv_sec;
+    timeadder.tv_nsec = start.tv_nsec - starttime.tv_nsec;
+    if(timeadder.tv_nsec < 0){
+        --timeadder.tv_sec;
+        timeadder.tv_nsec += 1000000000L;
+    }
+    curtime(&t0);
+    return TRUE;
+}
+// return difference (in seconds) between time1 and time0
+double timediff(const struct timespec *time1, const struct timespec *time0){
+    if(!time1 || !time0) return -1.;
+    return (time1->tv_sec - time0->tv_sec) + (time1->tv_nsec - time0->tv_nsec) / 1e9;
+}
+// difference between given time and  last initstarttime() call
+double timediff0(const struct timespec *time1){
+    return timediff(time1, &t0);
+}
+// time from last initstarttime() call
+double timefromstart(){
     struct timespec now;
     if(clock_gettime(CLOCK_MONOTONIC, &now)) return -1.;
-    if(t0 < 0.){
-        struct timespec start;
-        if(clock_gettime(CLOCK_REALTIME, &start)) return -1.;
-        t0 = (double)start.tv_sec + (double)start.tv_nsec * 1e-9
-             - (double)now.tv_sec + (double)now.tv_nsec * 1e-9;
-    }
-    return (double)now.tv_sec + (double)now.tv_nsec * 1e-9 + t0;
+    return (now.tv_sec - starttime.tv_sec) + (now.tv_nsec - starttime.tv_nsec) / 1e9;
 }
 
 /**
  * @brief quit - close all opened and return to default state
+ * TODO: close serial devices even in "model" mode
  */
 static void quit(){
     if(Conf.RunModel) return;
@@ -74,18 +115,17 @@ static void quit(){
     DBG("Exit");
 }
 
-void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst){
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst){
     if(!c || !Xmodel || !Ymodel) return;
-    double tnow = nanotime();
+    double tnow = timefromstart();
     moveparam_t Xp, Yp;
     movestate_t Xst = Xmodel->get_state(Xmodel, &Xp);
     //DBG("Xstate = %d", Xst);
     if(Xst == ST_MOVE) Xst = Xmodel->proc_move(Xmodel, &Xp, tnow);
     movestate_t Yst = Ymodel->get_state(Ymodel, &Yp);
     if(Yst == ST_MOVE) Yst = Ymodel->proc_move(Ymodel, &Yp, tnow);
-    c->X.t = c->Y.t = tnow;
-    c->X.val = Xp.coord;
-    c->Y.val =  Yp.coord;
+    c->X = Xp.coord;
+    c->Y = Yp.coord;
     if(xst) *xst = Xst;
     if(yst) *yst = Yst;
 }
@@ -136,7 +176,6 @@ double LS_calc_slope(less_square_t *l, double x, double t){
     return (numerator / denominator);
 }
 
-
 /**
  * @brief init - open serial devices and do other job
  * @param c - initial configuration
@@ -145,15 +184,20 @@ double LS_calc_slope(less_square_t *l, double x, double t){
 static mcc_errcodes_t init(conf_t *c){
     FNAME();
     if(!c) return MCC_E_BADFORMAT;
+    if(!initstarttime()) return MCC_E_FAILED;
     Conf = *c;
     mcc_errcodes_t ret = MCC_E_OK;
     Xmodel = model_init(&Xlimits);
     Ymodel = model_init(&Ylimits);
+    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
+        DBG("Bad value of MountReqInterval");
+        ret = MCC_E_BADFORMAT;
+    }
     if(Conf.RunModel){
         if(!Xmodel || !Ymodel || !openMount()) return MCC_E_FAILED;
         return MCC_E_OK;
     }
-    if(!Conf.MountDevPath || Conf.MountDevSpeed < 1200){
+    if(!Conf.MountDevPath || Conf.MountDevSpeed < MOUNT_BAUDRATE_MIN){
         DBG("Define mount device path and speed");
         ret = MCC_E_BADFORMAT;
     }else if(!openMount()){
@@ -169,16 +213,11 @@ static mcc_errcodes_t init(conf_t *c){
             ret = MCC_E_ENCODERDEV;
         }
     }
-    if(Conf.MountReqInterval > 1. || Conf.MountReqInterval < 0.05){
-        DBG("Bad value of MountReqInterval");
-        ret = MCC_E_BADFORMAT;
-    }
+    // TODO: read hardware configuration on init
     if(Conf.EncoderSpeedInterval < Conf.EncoderReqInterval * MCC_CONF_MIN_SPEEDC || Conf.EncoderSpeedInterval > MCC_CONF_MAX_SPEEDINT){
         DBG("Wrong speed interval");
         ret = MCC_E_BADFORMAT;
     }
-    //uint8_t buf[1024];
-    //data_t d = {.buf = buf, .len = 0, .maxlen = 1024};
     if(!SSrawcmd(CMD_EXITACM, NULL)) ret = MCC_E_FAILED;
     if(ret != MCC_E_OK) return ret;
     return updateMotorPos();
@@ -187,19 +226,19 @@ static mcc_errcodes_t init(conf_t *c){
 // check coordinates (rad) and speeds (rad/s); return FALSE if failed
 // TODO fix to real limits!!!
 static int chkX(double X){
-    if(X > 2.*M_PI || X < -2.*M_PI) return FALSE;
+    if(X > Xlimits.max.coord || X < Xlimits.min.coord) return FALSE;
     return TRUE;
 }
 static int chkY(double Y){
-    if(Y > 2.*M_PI || Y < -2.*M_PI) return FALSE;
+    if(Y > Ylimits.max.coord || Y < Ylimits.min.coord) return FALSE;
     return TRUE;
 }
 static int chkXs(double s){
-    if(s < 0. || s > MCC_MAX_X_SPEED) return FALSE;
+    if(s < Xlimits.min.speed || s > Xlimits.max.speed) return FALSE;
     return TRUE;
 }
 static int chkYs(double s){
-    if(s < 0. || s > MCC_MAX_Y_SPEED) return FALSE;
+    if(s < Ylimits.min.speed || s > Ylimits.max.speed) return FALSE;
     return TRUE;
 }
 
@@ -246,8 +285,8 @@ static mcc_errcodes_t move2(const coordpair_t *target){
     DBG("x,y: %g, %g", target->X, target->Y);
     cmd.Xmot = target->X;
     cmd.Ymot = target->Y;
-    cmd.Xspeed = MCC_MAX_X_SPEED;
-    cmd.Yspeed = MCC_MAX_Y_SPEED;
+    cmd.Xspeed = Xlimits.max.speed;
+    cmd.Yspeed = Ylimits.max.speed;
     mcc_errcodes_t r = shortcmd(&cmd);
     if(r != MCC_E_OK) return r;
     setslewingstate();
@@ -280,6 +319,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
     if(!target || !speed) return MCC_E_BADFORMAT;
     if(!chkX(target->X) || !chkY(target->Y)) return MCC_E_BADFORMAT;
     if(!chkXs(speed->X) || !chkYs(speed->Y)) return MCC_E_BADFORMAT;
+    // updateMotorPos() here can make a problem; TODO: remove?
     if(MCC_E_OK != updateMotorPos()) return MCC_E_FAILED;
     short_command_t cmd = {0};
     cmd.Xmot = target->X;
@@ -299,7 +339,7 @@ static mcc_errcodes_t move2s(const coordpair_t *target, const coordpair_t *speed
 static mcc_errcodes_t emstop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->emergency_stop(Xmodel, curt);
         Ymodel->emergency_stop(Ymodel, curt);
         return MCC_E_OK;
@@ -311,7 +351,7 @@ static mcc_errcodes_t emstop(){
 static mcc_errcodes_t stop(){
     FNAME();
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         Xmodel->stop(Xmodel, curt);
         Ymodel->stop(Ymodel,curt);
         return MCC_E_OK;
@@ -328,7 +368,7 @@ static mcc_errcodes_t stop(){
 static mcc_errcodes_t shortcmd(short_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         moveparam_t param = {0};
         param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
         if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -360,7 +400,7 @@ static mcc_errcodes_t shortcmd(short_command_t *cmd){
 static mcc_errcodes_t longcmd(long_command_t *cmd){
     if(!cmd) return MCC_E_BADFORMAT;
     if(Conf.RunModel){
-        double curt = nanotime();
+        double curt = timefromstart();
         moveparam_t param = {0};
         param.coord = cmd->Xmot; param.speed = cmd->Xspeed;
         if(!model_move2(Xmodel, &param, curt)) return MCC_E_FAILED;
@@ -498,19 +538,38 @@ static mcc_errcodes_t write_hwconf(hardware_configuration_t *hwConfig){
     config.backlspd = X_RS2MOTSPD(hwConfig->backlspd);
     config.Xsetpr = __bswap_32(hwConfig->Xsetpr);
     config.Ysetpr = __bswap_32(hwConfig->Ysetpr);
-    config.Xmetpr = __bswap_32(hwConfig->Xmetpr);
-    config.Ymetpr = __bswap_32(hwConfig->Ymetpr);
+    config.Xmetpr = __bswap_32(hwConfig->Xmetpr * 4);
+    config.Ymetpr = __bswap_32(hwConfig->Ymetpr * 4);
     // TODO - next
     (void) config;
     return MCC_E_OK;
 }
 
+// getters of max/min speed and acceleration
+mcc_errcodes_t maxspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.max.speed;
+    v->Y = Ylimits.max.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t minspeed(coordpair_t *v){
+    if(!v) return MCC_E_BADFORMAT;
+    v->X = Xlimits.min.speed;
+    v->Y = Ylimits.min.speed;
+    return MCC_E_OK;
+}
+mcc_errcodes_t acceleration(coordpair_t *a){
+    if(!a) return MCC_E_BADFORMAT;
+    a->X = Xlimits.max.accel;
+    a->Y = Ylimits.max.accel;
+    return MCC_E_OK;
+}
+
 // init mount class
 mount_t Mount = {
     .init = init,
     .quit = quit,
     .getMountData = getMD,
-//    .slewTo = slew2,
     .moveTo = move2,
     .moveWspeed = move2s,
     .setSpeed = setspeed,
@@ -520,7 +579,13 @@ mount_t Mount = {
     .longCmd = longcmd,
     .getHWconfig = get_hwconf,
     .saveHWconfig = write_hwconf,
-    .currentT = nanotime,
+    .currentT = curtime,
+    .timeFromStart = timefromstart,
+    .timeDiff = timediff,
+    .timeDiff0 = timediff0,
     .correctTo = correct2,
+    .getMaxSpeed = maxspeed,
+    .getMinSpeed = minspeed,
+    .getAcceleration = acceleration,
 };
 
diff --git a/Auxiliary_utils/LibSidServo/main.h b/Auxiliary_utils/LibSidServo/main.h
index c8ae4c9..769d305 100644
--- a/Auxiliary_utils/LibSidServo/main.h
+++ b/Auxiliary_utils/LibSidServo/main.h
@@ -28,8 +28,12 @@
 #include "sidservo.h"
 
 extern conf_t Conf;
-double nanotime();
-void getModData(coordval_pair_t *c, movestate_t *xst, movestate_t *yst);
+extern limits_t Xlimits, Ylimits;
+int curtime(struct timespec *t);
+double timediff(const struct timespec *time1, const struct timespec *time0);
+double timediff0(const struct timespec *time1);
+double timefromstart();
+void getModData(coordpair_t *c, movestate_t *xst, movestate_t *yst);
 typedef struct{
     double *x, *t, *t2, *xt; // arrays of coord/time and multiply
     double xsum, tsum, t2sum, xtsum; // sums of coord/time and their multiply
@@ -43,10 +47,6 @@ double LS_calc_slope(less_square_t *l, double x, double t);
 
 // unused arguments of functions
 #define _U_         __attribute__((__unused__))
-// break absent in `case`
-#define FALLTHRU    __attribute__ ((fallthrough))
-// and synonym for FALLTHRU
-#define NOBREAKHERE __attribute__ ((fallthrough))
 // weak functions
 #define WEAK        __attribute__ ((weak))
 
diff --git a/Auxiliary_utils/LibSidServo/movingmodel.c b/Auxiliary_utils/LibSidServo/movingmodel.c
index 0472459..4326859 100644
--- a/Auxiliary_utils/LibSidServo/movingmodel.c
+++ b/Auxiliary_utils/LibSidServo/movingmodel.c
@@ -60,7 +60,7 @@ movemodel_t *model_init(limits_t *l){
 
 int model_move2(movemodel_t *model, moveparam_t *target, double t){
     if(!target || !model) return FALSE;
-    DBG("MOVE to %g at speed %g", target->coord, target->speed);
+    DBG("MOVE to %g (deg) at speed %g (deg/s)", target->coord/M_PI*180., target->speed/M_PI*180.);
     // only positive velocity
     if(target->speed < 0.) target->speed = -target->speed;
     if(fabs(target->speed) < model->Min.speed){
diff --git a/Auxiliary_utils/LibSidServo/movingmodel.h b/Auxiliary_utils/LibSidServo/movingmodel.h
index d7b75bb..dfd7ab9 100644
--- a/Auxiliary_utils/LibSidServo/movingmodel.h
+++ b/Auxiliary_utils/LibSidServo/movingmodel.h
@@ -44,7 +44,7 @@ typedef struct{
 typedef struct{
     moveparam_t min;
     moveparam_t max;
-    double acceleration;
+    //double acceleration;
 } limits_t;
 
 typedef enum{
diff --git a/Auxiliary_utils/LibSidServo/serial.c b/Auxiliary_utils/LibSidServo/serial.c
index 5b5c410..5e040f5 100644
--- a/Auxiliary_utils/LibSidServo/serial.c
+++ b/Auxiliary_utils/LibSidServo/serial.c
@@ -59,49 +59,35 @@ typedef struct __attribute__((packed)){
 
 // calculate current X/Y speeds
 void getXspeed(){
-    static double t0 = -1.; // time of start - eliminate problem of very large times in squares
-    if(t0 < 0.) t0 = mountdata.encXposition.t;
     static less_square_t *ls = NULL;
     if(!ls){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
     pthread_mutex_lock(&datamutex);
-    double speed = LS_calc_slope(ls, mountdata.encXposition.val, mountdata.encXposition.t - t0);
-    if(fabs(speed) < 1.5 * MCC_MAX_X_SPEED){
+    double dt = timediff0(&mountdata.encXposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
+    if(fabs(speed) < 1.5 * Xlimits.max.speed){
         mountdata.encXspeed.val = speed;
         mountdata.encXspeed.t = mountdata.encXposition.t;
     }
     pthread_mutex_unlock(&datamutex);
     //DBG("Xspeed=%g", mountdata.encXspeed.val);
-#if 0
-    mountdata.encXspeed.val = (mountdata.encXposition.val - lastXenc.val) / (t - lastXenc.t);
-    mountdata.encXspeed.t = (lastXenc.t + mountdata.encXposition.t) / 2.;
-    lastXenc.val = mountdata.encXposition.val;
-    lastXenc.t = t;
-#endif
 }
 void getYspeed(){
-    static double t0 = -1.; // time of start - eliminate problem of very large times in squares
-    if(t0 < 0.) t0 = mountdata.encXposition.t;
     static less_square_t *ls = NULL;
     if(!ls){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
     pthread_mutex_lock(&datamutex);
-    double speed = LS_calc_slope(ls, mountdata.encYposition.val, mountdata.encYposition.t - t0);
-    if(fabs(speed) < 1.5 * MCC_MAX_Y_SPEED){
+    double dt = timediff0(&mountdata.encYposition.t);
+    double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
+    if(fabs(speed) < 1.5 * Ylimits.max.speed){
         mountdata.encYspeed.val = speed;
         mountdata.encYspeed.t = mountdata.encYposition.t;
     }
     pthread_mutex_unlock(&datamutex);
-#if 0
-    mountdata.encYspeed.val = (mountdata.encYposition.val - lastYenc.val) / (t - lastYenc.t);
-    mountdata.encYspeed.t = (lastYenc.t + mountdata.encYposition.t) / 2.;
-    lastYenc.val = mountdata.encYposition.val;
-    lastYenc.t = t;
-#endif
 }
 
 /**
@@ -109,7 +95,8 @@ void getYspeed(){
  * @param databuf - input buffer with 13 bytes of data
  * @param t - time when databuf[0] got
  */
-static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
+static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
+    if(!t) return;
     enc_t *edata = (enc_t*) databuf;
 /*
 #ifdef EBUG
@@ -147,12 +134,12 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
     mountdata.encXposition.val = X_ENC2RAD(edata->encX);
     mountdata.encYposition.val = Y_ENC2RAD(edata->encY);
     DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
-    mountdata.encXposition.t = t;
-    mountdata.encYposition.t = t;
+    mountdata.encXposition.t = *t;
+    mountdata.encYposition.t = *t;
+    pthread_mutex_unlock(&datamutex);
     //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
     //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
     getXspeed(); getYspeed();
-    pthread_mutex_unlock(&datamutex);
     //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
 }
 
@@ -163,11 +150,11 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], double t){
  * @param t - measurement time
  * @return amount of data read or 0 if problem
  */
-static int getencval(int fd, double *val, double *t){
+static int getencval(int fd, double *val, struct timespec *t){
     if(fd < 0) return FALSE;
     char buf[128];
     int got = 0, Lmax = 127;
-    double t0 = nanotime();
+    double t0 = timefromstart();
     do{
         fd_set rfds;
         FD_ZERO(&rfds);
@@ -186,7 +173,7 @@ static int getencval(int fd, double *val, double *t){
             buf[got] = 0;
         } else continue;
         if(strchr(buf, '\n')) break;
-    }while(Lmax && nanotime() - t0 < Conf.EncoderReqInterval);
+    }while(Lmax && timefromstart() - t0 < Conf.EncoderReqInterval);
     if(got == 0) return 0; // WTF?
     char *estr = strrchr(buf, '\n');
     if(!estr) return 0;
@@ -201,7 +188,7 @@ static int getencval(int fd, double *val, double *t){
         return 0; // wrong number
     }
     if(val) *val = (double) data;
-    if(t) *t = t0;
+    if(t){ if(!curtime(t)) return 0; }
     return got;
 }
 // try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
@@ -265,8 +252,6 @@ static void clrmntbuf(){
     if(mntfd < 0) return;
     uint8_t byte;
     fd_set rfds;
-    //double t0 = nanotime();
-    //int n = 0;
     do{
         FD_ZERO(&rfds);
         FD_SET(mntfd, &rfds);
@@ -280,10 +265,8 @@ static void clrmntbuf(){
         if(FD_ISSET(mntfd, &rfds)){
             ssize_t l = read(mntfd, &byte, 1);
             if(l != 1) break;
-            //++n;
         } else break;
     }while(1);
-    //DBG("Cleared by %g (got %d bytes)", nanotime() - t0, n);
 }
 
 // main encoder thread (for separate encoder): read next data and make parsing
@@ -291,7 +274,7 @@ static void *encoderthread1(void _U_ *u){
     if(Conf.SepEncoder != 1) return NULL;
     uint8_t databuf[ENC_DATALEN];
     int wridx = 0, errctr = 0;
-    double t = 0.;
+    struct timespec tcur;
     while(encfd[0] > -1 && errctr < MAX_ERR_CTR){
         int b = getencbyte();
         if(b == -2) ++errctr;
@@ -302,13 +285,14 @@ static void *encoderthread1(void _U_ *u){
             if((uint8_t)b == ENC_MAGICK){
 //                DBG("Got magic -> start filling packet");
                 databuf[wridx++] = (uint8_t) b;
-                t = nanotime();
             }
             continue;
         }else databuf[wridx++] = (uint8_t) b;
         if(wridx == ENC_DATALEN){
-            parse_encbuf(databuf, t);
-            wridx = 0;
+            if(curtime(&tcur)){
+                parse_encbuf(databuf, &tcur);
+                wridx = 0;
+            }
         }
     }
     if(encfd[0] > -1){
@@ -323,30 +307,28 @@ static void *encoderthread2(void _U_ *u){
     if(Conf.SepEncoder != 2) return NULL;
     DBG("Thread started");
     int errctr = 0;
-    double t0 = nanotime();
+    double t0 = timefromstart();
     const char *req = "\n";
     int need2ask = 0; // need or not to ask encoder for new data
     while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
+        struct timespec t;
+        if(!curtime(&t)) continue;
         if(need2ask){
             if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
             else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
         }
-        double v, t;
+        double v;
         if(getencval(encfd[0], &v, &t)){
             pthread_mutex_lock(&datamutex);
             mountdata.encXposition.val = X_ENC2RAD(v);
-            //DBG("encX(%g) = %g", t, mountdata.encXposition.val);
             mountdata.encXposition.t = t;
             pthread_mutex_unlock(&datamutex);
-            //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
             getXspeed();
             if(getencval(encfd[1], &v, &t)){
                 pthread_mutex_lock(&datamutex);
                 mountdata.encYposition.val = Y_ENC2RAD(v);
-                //DBG("encY(%g) = %g", t, mountdata.encYposition.val);
                 mountdata.encYposition.t = t;
                 pthread_mutex_unlock(&datamutex);
-                //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
                 getYspeed();
                 errctr = 0;
                 need2ask = 0;
@@ -360,9 +342,8 @@ static void *encoderthread2(void _U_ *u){
             else need2ask = 1;
             continue;
         }
-        while(nanotime() - t0 < Conf.EncoderReqInterval){ usleep(50); }
-        //DBG("DT=%g (RI=%g)", nanotime()-t0, Conf.EncoderReqInterval);
-        t0 = nanotime();
+        while(timefromstart() - t0 < Conf.EncoderReqInterval){ usleep(50); }
+        t0 = timefromstart();
     }
     DBG("ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
@@ -390,43 +371,67 @@ void data_free(data_t **x){
     *x = NULL;
 }
 
+static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t *stat){
+    if(!prev || !nstopped || !stat) return;
+    if(isnan(*prev)){
+        *stat = AXIS_STOPPED;
+        DBG("START");
+    }else if(*stat != AXIS_STOPPED){
+        if(fabs(*prev - cur) < DBL_EPSILON && ++(*nstopped) > MOTOR_STOPPED_CNT){
+            *stat = AXIS_STOPPED;
+            DBG("AXIS stopped; prev=%g, cur=%g; nstopped=%d", *prev/M_PI*180., cur/M_PI*180., *nstopped);
+        }
+    }else if(*prev != cur){
+        DBG("AXIS moving");
+        *nstopped = 0;
+    }
+    *prev = cur;
+}
+
 // main mount thread
 static void *mountthread(void _U_ *u){
     int errctr = 0;
     uint8_t buf[2*sizeof(SSstat)];
     SSstat *status = (SSstat*) buf;
     bzero(&mountdata, sizeof(mountdata));
-    double t0 = nanotime(), tstart = t0;
-    static double oldmt = -100.; // old `millis measurement` time
+    double t0 = timefromstart(), tstart = t0, tcur = t0;
+    double oldmt = -100.; // old `millis measurement` time
     static uint32_t oldmillis = 0;
-    if(Conf.RunModel) while(1){
-        coordval_pair_t c;
-        movestate_t xst, yst;
-        // now change data
-        getModData(&c, &xst, &yst);
-        pthread_mutex_lock(&datamutex);
-        double tnow = c.X.t;
-        mountdata.encXposition.t = mountdata.encYposition.t = tnow;
-        mountdata.encXposition.val = c.X.val;
-        mountdata.encYposition.val = c.Y.val;
-        //DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
-        if(tnow - oldmt > Conf.MountReqInterval){
-            oldmillis = mountdata.millis = (uint32_t)((tnow - tstart) * 1e3);
-            mountdata.motYposition.t = mountdata.motXposition.t = tnow;
-            if(xst == ST_MOVE)
-                mountdata.motXposition.val = c.X.val + (c.X.val - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
-            else
-                mountdata.motXposition.val = c.X.val;
-            if(yst == ST_MOVE)
-                mountdata.motYposition.val = c.Y.val + (c.Y.val - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
-            else
-                mountdata.motYposition.val = c.Y.val;
-            oldmt = tnow;
-        }else mountdata.millis = oldmillis;
-        pthread_mutex_unlock(&datamutex);
-        getXspeed(); getYspeed();
-        while(nanotime() - t0 < Conf.EncoderReqInterval) usleep(50);
-        t0 = nanotime();
+    if(Conf.RunModel){
+        double Xprev = NAN, Yprev = NAN; // previous coordinates
+        int xcnt = 0, ycnt = 0;
+        while(1){
+            coordpair_t c;
+            movestate_t xst, yst;
+            // now change data
+            getModData(&c, &xst, &yst);
+            struct timespec tnow;
+            if(!curtime(&tnow) || (tcur = timefromstart()) < 0.) continue;
+            pthread_mutex_lock(&datamutex);
+            mountdata.encXposition.t = mountdata.encYposition.t = tnow;
+            mountdata.encXposition.val = c.X;
+            mountdata.encYposition.val = c.Y;
+            //DBG("t=%g, X=%g, Y=%g", tnow, c.X.val, c.Y.val);
+            if(tcur - oldmt > Conf.MountReqInterval){
+                oldmillis = mountdata.millis = (uint32_t)((tcur - tstart) * 1e3);
+                mountdata.motYposition.t = mountdata.motXposition.t = tnow;
+                if(xst == ST_MOVE)
+                    mountdata.motXposition.val = c.X + (c.X - mountdata.motXposition.val)*(drand48() - 0.5)/100.;
+                else
+                    mountdata.motXposition.val = c.X;
+                if(yst == ST_MOVE)
+                    mountdata.motYposition.val = c.Y + (c.Y - mountdata.motYposition.val)*(drand48() - 0.5)/100.;
+                else
+                    mountdata.motYposition.val = c.Y;
+                oldmt = tcur;
+            }else mountdata.millis = oldmillis;
+            chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
+            chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
+            pthread_mutex_unlock(&datamutex);
+            getXspeed(); getYspeed();
+            while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
+            t0 = timefromstart();
+        }
     }
     // data to get
     data_t d = {.buf = buf, .maxlen = sizeof(buf)};
@@ -435,31 +440,8 @@ static void *mountthread(void _U_ *u){
     if(!cmd_getstat) goto failed;
     while(mntfd > -1 && errctr < MAX_ERR_CTR){
         // read data to status
-        double t0 = nanotime();
-#if 0
-// 127 milliseconds to get answer on X/Y commands!!!
-        int64_t ans;
-        int ctr = 0;
-        if(SSgetint(CMD_MOTX, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        tgot = nanotime();
-        if(SSgetint(CMD_MOTY, &ans)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.motXposition.t = tgot;
-            mountdata.motXposition.val = X_MOT2RAD(ans);
-            pthread_mutex_unlock(&datamutex);
-            ++ctr;
-        }
-        if(ctr == 2){
-            mountdata.millis = (uint32_t)(1e3 * tgot);
-            DBG("Got both coords; millis=%d", mountdata.millis);
-        }
-#endif
+        struct timespec tcur;
+        if(!curtime(&tcur)) continue;
         // 80 milliseconds to get answer on GETSTAT
         if(!MountWriteRead(cmd_getstat, &d) || d.len != sizeof(SSstat)){
 #ifdef EBUG
@@ -476,14 +458,13 @@ static void *mountthread(void _U_ *u){
         errctr = 0;
         pthread_mutex_lock(&datamutex);
         // now change data
-        SSconvstat(status, &mountdata, t0);
+        SSconvstat(status, &mountdata, &tcur);
         pthread_mutex_unlock(&datamutex);
-        //DBG("GOT FULL stat by %g", nanotime() - t0);
         // allow writing & getters
         do{
             usleep(500);
-        }while(nanotime() - t0 < Conf.MountReqInterval);
-        t0 = nanotime();
+        }while(timefromstart() - t0 < Conf.MountReqInterval);
+        t0 = timefromstart();
     }
     data_free(&cmd_getstat);
 failed:
@@ -589,6 +570,7 @@ create_thread:
 
 // close all opened serial devices and quit threads
 void closeSerial(){
+    // TODO: close devices in "model" mode too!
     if(Conf.RunModel) return;
     if(mntfd > -1){
         DBG("Cancel mount thread");
@@ -638,30 +620,23 @@ static int wr(const data_t *out, data_t *in, int needeol){
         return FALSE;
     }
     clrmntbuf();
-    //double t0 = nanotime();
     if(out){
         if(out->len != (size_t)write(mntfd, out->buf, out->len)){
             DBG("written bytes not equal to need");
             return FALSE;
         }
-        //DBG("Send to mount %zd bytes: %s", out->len, out->buf);
         if(needeol){
             int g = write(mntfd, "\r", 1); // add EOL
             (void) g;
         }
     }
-    //DBG("sent by %g", nanotime() - t0);
-    //uint8_t buf[256];
-    //data_t dumb = {.buf = buf, .maxlen = 256};
     if(!in) return TRUE;
-    //if(!in) in = &dumb; // even if user don't ask for answer, try to read to clear trash
     in->len = 0;
     for(size_t i = 0; i < in->maxlen; ++i){
         int b = getmntbyte();
         if(b < 0) break; // nothing to read -> go out
         in->buf[in->len++] = (uint8_t) b;
     }
-    //DBG("got %zd bytes by %g", in->len, nanotime() - t0);
     while(getmntbyte() > -1);
     return TRUE;
 }
@@ -768,13 +743,14 @@ int cmdC(SSconfig *conf, int rw){
         d.len = 0; d.maxlen = sizeof(SSconfig);
         ret = wr(rcmd, &d, 1);
         DBG("wr returned %s; got %zd bytes of %zd", ret ? "TRUE" : "FALSE", d.len, d.maxlen);
-        if(d.len != d.maxlen) return FALSE;
+        if(d.len != d.maxlen){ ret = FALSE; goto rtn; }
         // simplest checksum
         uint16_t sum = 0;
         for(uint32_t i = 0; i < sizeof(SSconfig)-2; ++i) sum += d.buf[i];
         if(sum != conf->checksum){
             DBG("got sum: %u, need: %u", conf->checksum, sum);
-            return FALSE;
+            ret = FALSE;
+            goto rtn;
         }
     }
 rtn:
diff --git a/Auxiliary_utils/LibSidServo/sidservo.h b/Auxiliary_utils/LibSidServo/sidservo.h
index a3dc44c..d075289 100644
--- a/Auxiliary_utils/LibSidServo/sidservo.h
+++ b/Auxiliary_utils/LibSidServo/sidservo.h
@@ -32,38 +32,13 @@ extern "C"
 #include <stdint.h>
 #include <sys/time.h>
 
-// acceptable position error - 0.1''
-#define MCC_POSITION_ERROR      (5e-7)
-// acceptable disagreement between motor and axis encoders - 2''
-#define MCC_ENCODERS_ERROR      (1e-7)
-
-// max speeds (rad/s): xs=10 deg/s, ys=8 deg/s
-#define MCC_MAX_X_SPEED         (0.174533)
-#define MCC_MAX_Y_SPEED         (0.139626)
-// accelerations by both axis (for model); TODO: move speeds/accelerations into config?
-// xa=12.6 deg/s^2, ya= 9.5 deg/s^2
-#define MCC_X_ACCELERATION      (0.219911)
-#define MCC_Y_ACCELERATION      (0.165806)
-
+// minimal serial speed of mount device
+#define MOUNT_BAUDRATE_MIN      (1200)
 // max speed interval, seconds
 #define MCC_CONF_MAX_SPEEDINT   (2.)
 // minimal speed interval in parts of EncoderReqInterval
 #define MCC_CONF_MIN_SPEEDC     (3.)
-// PID I cycle time (analog of "RC" for PID on opamps)
-#define MCC_PID_CYCLE_TIME      (5.)
-// maximal PID refresh time interval (if larger all old data will be cleared)
-#define MCC_PID_MAX_DT          (1.)
-// normal PID refresh interval
-#define MCC_PID_REFRESH_DT      (0.1)
-// boundary conditions for axis state: "slewing/pointing/guiding"
-// if angle < MCC_MAX_POINTING_ERR, change state from "slewing" to "pointing": 8 degrees
-//#define MCC_MAX_POINTING_ERR    (0.20943951)
-//#define MCC_MAX_POINTING_ERR    (0.08726646)
-#define MCC_MAX_POINTING_ERR    (0.13962634)
-// if angle < MCC_MAX_GUIDING_ERR, chane state from "pointing" to "guiding": 1.5 deg
-#define MCC_MAX_GUIDING_ERR     (0.026179939)
-// if error less than this value we suppose that target is captured and guiding is good: 0.1''
-#define MCC_MAX_ATTARGET_ERR    (4.8481368e-7)
+
 
 // error codes
 typedef enum{
@@ -87,14 +62,21 @@ typedef struct{
     int     SepEncoder;             // ==1 if encoder works as separate serial device, ==2 if there's new version with two devices
     char*   EncoderXDevPath;        // paths to new controller devices
     char*   EncoderYDevPath;
+    double  EncodersDisagreement;   // acceptable disagreement between motor and axis encoders
     double  MountReqInterval;       // interval between subsequent mount requests (seconds)
     double  EncoderReqInterval;     // interval between subsequent encoder requests (seconds)
     double  EncoderSpeedInterval;   // interval between speed calculations
     int     RunModel;               // == 1 if you want to use model instead of real mount
+    double  PIDMaxDt;               // maximal PID refresh time interval (if larger all old data will be cleared)
+    double  PIDRefreshDt;           // normal PID refresh interval
+    double  PIDCycleDt;             // PID I cycle time (analog of "RC" for PID on opamps)
     PIDpar_t XPIDC;                 // gain parameters of PID for both axiss (C - coordinate driven, V - velocity driven)
     PIDpar_t XPIDV;
     PIDpar_t YPIDC;
     PIDpar_t YPIDV;
+    double MaxPointingErr;          // if angle < this, change state from "slewing" to "pointing" (coarse pointing): 8 degrees
+    double MaxFinePointingErr;      // if angle < this, chane state from "pointing" to "guiding" (fine poinging): 1.5 deg
+    double MaxGuidingErr;           // if error less than this value we suppose that target is captured and guiding is good (true guiding): 0.1''
 } conf_t;
 
 // coordinates/speeds in degrees or d/s: X, Y
@@ -105,7 +87,7 @@ typedef struct{
 // coordinate/speed and time of last measurement
 typedef struct{
     double val;
-    double t;
+    struct timespec t;
 } coordval_t;
 
 typedef struct{
@@ -247,7 +229,7 @@ typedef struct{
     void            (*quit)(); // deinit
     mcc_errcodes_t  (*getMountData)(mountdata_t *d); // get last data
 //    mcc_errcodes_t  (*slewTo)(const coordpair_t *target, slewflags_t flags);
-    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target, const coordpair_t *endpoint);
+    mcc_errcodes_t  (*correctTo)(const coordval_pair_t *target);
     mcc_errcodes_t  (*moveTo)(const coordpair_t *target); // move to given position and stop
     mcc_errcodes_t  (*moveWspeed)(const coordpair_t *target, const  coordpair_t *speed); // move with given max speed
     mcc_errcodes_t  (*setSpeed)(const coordpair_t *tagspeed); // set speed
@@ -257,7 +239,13 @@ typedef struct{
     mcc_errcodes_t  (*longCmd)(long_command_t *cmd); // send/get long command
     mcc_errcodes_t  (*getHWconfig)(hardware_configuration_t *c); // get hardware configuration
     mcc_errcodes_t  (*saveHWconfig)(hardware_configuration_t *c); // save hardware configuration
-    double          (*currentT)(); // current time
+    int             (*currentT)(struct timespec *t); // current time
+    double          (*timeFromStart)(); // amount of seconds from last init
+    double          (*timeDiff)(const struct timespec *time1, const struct timespec *time0); // difference of times
+    double          (*timeDiff0)(const struct timespec *time1); // difference between current time and last init time
+    mcc_errcodes_t  (*getMaxSpeed)(coordpair_t *v); // maximal speed by both axis
+    mcc_errcodes_t  (*getMinSpeed)(coordpair_t *v); // minimal -//-
+    mcc_errcodes_t  (*getAcceleration)(coordpair_t *a); // acceleration/deceleration
 } mount_t;
 
 extern mount_t Mount;
diff --git a/Auxiliary_utils/LibSidServo/ssii.c b/Auxiliary_utils/LibSidServo/ssii.c
index cb4526a..6e5c89e 100644
--- a/Auxiliary_utils/LibSidServo/ssii.c
+++ b/Auxiliary_utils/LibSidServo/ssii.c
@@ -67,17 +67,17 @@ static void ChkStopped(const SSstat *s, mountdata_t *m){
  * @param m (o) - output
  * @param t - measurement time
  */
-void SSconvstat(const SSstat *s, mountdata_t *m, double t){
-    if(!s || !m) return;
+void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
+    if(!s || !m || !t) return;
     m->motXposition.val = X_MOT2RAD(s->Xmot);
     m->motYposition.val = Y_MOT2RAD(s->Ymot);
     ChkStopped(s, m);
-    m->motXposition.t = m->motYposition.t = t;
+    m->motXposition.t = m->motYposition.t = *t;
     // fill encoder data from here, as there's no separate enc thread
     if(!Conf.SepEncoder){
         m->encXposition.val = X_ENC2RAD(s->Xenc);
         m->encYposition.val = Y_ENC2RAD(s->Yenc);
-        m->encXposition.t = m->encYposition.t = t;
+        m->encXposition.t = m->encYposition.t = *t;
         getXspeed(); getYspeed();
     }
     m->keypad = s->keypad;
@@ -176,33 +176,37 @@ int SSstop(int emerg){
 mcc_errcodes_t updateMotorPos(){
     mountdata_t md = {0};
     if(Conf.RunModel) return MCC_E_OK;
-    double t0 = nanotime(), t = 0.;
+    double t0 = timefromstart(), t = 0.;
+    struct timespec curt;
     DBG("start @ %g", t0);
     do{
-        t = nanotime();
+        t = timefromstart();
+        if(!curtime(&curt)){
+            usleep(10000);
+            continue;
+        }
         if(MCC_E_OK == getMD(&md)){
-            if(md.encXposition.t == 0 || md.encYposition.t == 0){
+            if(md.encXposition.t.tv_sec == 0 || md.encYposition.t.tv_sec == 0){
                 DBG("Just started, t-t0 = %g!", t - t0);
-                sleep(1);
-                DBG("t-t0 = %g", nanotime() - t0);
-                //usleep(10000);
+                usleep(10000);
                 continue;
             }
-            DBG("got; t pos x/y: %g/%g; tnow: %g", md.encXposition.t, md.encYposition.t, t);
+            if(md.Xstate != AXIS_STOPPED || md.Ystate != AXIS_STOPPED) return MCC_E_OK;
+            DBG("got; t pos x/y: %ld/%ld; tnow: %ld", md.encXposition.t.tv_sec, md.encYposition.t.tv_sec, curt.tv_sec);
             mcc_errcodes_t OK = MCC_E_OK;
-            if(fabs(md.motXposition.val - md.encXposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
+            if(fabs(md.motXposition.val - md.encXposition.val) > Conf.EncodersDisagreement && md.Xstate == AXIS_STOPPED){
                 DBG("NEED to sync X: motors=%g, axiss=%g", md.motXposition.val, md.encXposition.val);
                 if(!SSsetterI(CMD_MOTXSET, X_RAD2MOT(md.encXposition.val))){
                     DBG("Xpos sync failed!");
                     OK = MCC_E_FAILED;
-                }else DBG("Xpos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Xpos sync OK, Dt=%g", t - t0);
             }
-            if(fabs(md.motYposition.val - md.encYposition.val) > MCC_ENCODERS_ERROR && md.Xstate == AXIS_STOPPED){
+            if(fabs(md.motYposition.val - md.encYposition.val) > Conf.EncodersDisagreement && md.Ystate == AXIS_STOPPED){
                 DBG("NEED to sync Y: motors=%g, axiss=%g", md.motYposition.val, md.encYposition.val);
                 if(!SSsetterI(CMD_MOTYSET, Y_RAD2MOT(md.encYposition.val))){
                     DBG("Ypos sync failed!");
                     OK = MCC_E_FAILED;
-                }else DBG("Ypos sync OK, Dt=%g", nanotime() - t0);
+                }else DBG("Ypos sync OK, Dt=%g", t - t0);
             }
             if(MCC_E_OK == OK){
                 DBG("Encoders synced");
diff --git a/Auxiliary_utils/LibSidServo/ssii.h b/Auxiliary_utils/LibSidServo/ssii.h
index 504bb1b..abd8007 100644
--- a/Auxiliary_utils/LibSidServo/ssii.h
+++ b/Auxiliary_utils/LibSidServo/ssii.h
@@ -173,7 +173,7 @@
 #define SITECH_LOOP_FREQUENCY   (1953.)
 
 // amount of consequent same coordinates to detect stop
-#define MOTOR_STOPPED_CNT       (4)
+#define MOTOR_STOPPED_CNT       (19)
 
 // TODO: take it from settings?
 // steps per revolution (SSI - x4 - for SSI)
@@ -331,7 +331,7 @@ typedef struct{
 } __attribute__((packed)) SSconfig;
 
 uint16_t SScalcChecksum(uint8_t *buf, int len);
-void SSconvstat(const SSstat *status, mountdata_t *mountdata, double t);
+void SSconvstat(const SSstat *status, mountdata_t *mountdata, struct timespec *t);
 int SStextcmd(const char *cmd, data_t *answer);
 int SSrawcmd(const char *cmd, data_t *answer);
 int SSgetint(const char *cmd, int64_t *ans);