Version 1.4.6.35 - Pack Mid alpha

============================
Arc head - activate arc heaters gradually
stop FPGA Reinit after 20 trials
Head cleaning - move actuators (with stub - 0xAD7)
fix RML PID support
head open prevent job - (with stub - 0xAD6)
add stub to overrule cone missing - 0xAD8

21 files changed, 505 insertions, 321 deletions

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index 26bee6013..388976f56 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -441,7 +441,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Drivers/I2C_Communication/Head_Card/ADC/Head_ADC_old.c|EmbParam.cfg|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="EmbParam.cfg|Drivers/Uart_Comm/Uart.c|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index 4b1fec423..beeb86c92 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,6,34};
+TangoVersion_t _gTangoVersion = {1,4,6,35};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c
index a5c9376d2..d73fbcdba 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c
@@ -13,6 +13,7 @@
 
 bool HeaterMap[HEADCARD_HIT_MIXER+1] = {0};
 
+uint8_t OT_Heater_Index = 0;IN_Heater_Index = 0;
 uint32_t Activate_Head_Card_Heaters(HEADCARD_HEATERS_ENUM Head_Heater_ID)
 {
     uint32_t status= OK;
@@ -40,15 +41,15 @@ uint32_t Deactivate_Head_Card_Heaters(HEADCARD_HEATERS_ENUM Head_Heater_ID)
     HeaterMap[Head_Heater_ID] &= ~(1 << Head_Heater_ID);
 
     if(Head_Heater_ID <= HEADCARD_UPPER_HIT_IN4)
-        {
-            Head_I2C_EXP1_0x40.ushort &= ~(1 << Head_Heater_ID);
-        }
-        else if(Head_Heater_ID <= HEADCARD_HIT_MIXER)
-        {
-            Head_I2C_EXP2_0x42.ushort &= ~(1 << (Head_Heater_ID - 16));
-        }
-        else
-            status = ERROR;
+    {
+        Head_I2C_EXP1_0x40.ushort &= ~(1 << Head_Heater_ID);
+    }
+    else if(Head_Heater_ID <= HEADCARD_HIT_MIXER)
+    {
+        Head_I2C_EXP2_0x42.ushort &= ~(1 << (Head_Heater_ID - 16));
+    }
+    else
+        status = ERROR;
 
     return status;
 }
@@ -66,6 +67,38 @@ uint32_t Write_Head_Card_Heaters_Commands()
         Report(" Write_Head_Card_Heaters",__FILE__,__LINE__,255,RpWarning,0,0);
     if (status)
         ReadFailures++;
+    if ((IN_Heater_Index)&&(IN_Heater_Index<=4))
+    {
+        switch (IN_Heater_Index)
+        {
+            case 2:
+                Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN2  = true;
+                break;
+            case 3:
+                Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN3  = true;
+                break;
+            case 4:
+                Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN4  = true;
+                break;
+        }
+        IN_Heater_Index++;
+    }
+    if ((OT_Heater_Index)&&(OT_Heater_Index<=4))
+    {
+        switch (OT_Heater_Index)
+        {
+            case 2:
+                Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT2  = true;
+                break;
+            case 3:
+                Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT3  = true;
+                break;
+            case 4:
+                Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT4  = true;
+                break;
+        }
+        OT_Heater_Index++;
+    }
    return status;
 }
 
@@ -137,34 +170,65 @@ uint32_t HeadCard_Control_Heaters(HEADCARD_HEATERS_ENUM Heater_ID, bool Pwr_Cmd)
             break;
         case HEADCARD_UPPER_HIT_IN1:
                 Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN1  = Pwr_Cmd;
+                IN_Heater_Index = (Pwr_Cmd)?1:0;
                 //status |= Head_Write_IO_Reg(0x40,HIGH);
 //            break;
 //        case HEADCARD_UPPER_HIT_IN2:
+            if (Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN2  == Pwr_Cmd)
                 Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN2  = Pwr_Cmd;
+            else
+                if (Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN2  == true)
+                    Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN2  = false;
                 //status |= Head_Write_IO_Reg(0x40,HIGH);
 //            break;
 //       case HEADCARD_UPPER_HIT_IN3:
+            if (Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN3  == Pwr_Cmd)
                 Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN3  = Pwr_Cmd;
+            else
+                if (Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN3  == true)
+                    Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN3  = false;
+                //Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN3  = false;
                 //status |= Head_Write_IO_Reg(0x40,HIGH);
 //            break;
 //        case HEADCARD_UPPER_HIT_IN4:
+            if (Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN4  == Pwr_Cmd)
                 Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN4  = Pwr_Cmd;
+            else
+                if (Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN4  == true)
+                    Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN4  = false;
+                //Head_I2C_EXP1_0x40.bits.OUTPUT_ON_HTIN4  = false;
                 //status |= Head_Write_IO_Reg(0x40,HIGH);
             break;
         case HEADCARD_UPPER_HIT_OUT1:
                 Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT1  = Pwr_Cmd;
+                OT_Heater_Index = (Pwr_Cmd)?1:0;
                 //status |= Head_Write_IO_Reg(0x42,LOW);
 //            break;
 //        case HEADCARD_UPPER_HIT_OUT2:
-                Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT2  = Pwr_Cmd;
+                if (Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT2  == Pwr_Cmd)
+                    Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT2  = Pwr_Cmd;
+                else
+                    if (Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT2  == true)
+                        Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT2  = false;
+                //Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT2  = false;
                 //status |= Head_Write_IO_Reg(0x42,LOW);
 //            break;
 //        case HEADCARD_UPPER_HIT_OUT3:
-                Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT3  = Pwr_Cmd;
+                if (Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT3  == Pwr_Cmd)
+                    Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT3  = Pwr_Cmd;
+                else
+                    if (Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT3  == true)
+                        Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT3  = false;
+                //Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT3  = false;
                 //status |= Head_Write_IO_Reg(0x42,LOW);
 //            break;
 //        case HEADCARD_UPPER_HIT_OUT4:
-                Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT4  = Pwr_Cmd;
+                if (Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT4  == Pwr_Cmd)
+                    Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT4  = Pwr_Cmd;
+                else
+                    if (Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT4  == true)
+                        Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT4  = false;
+                //Head_I2C_EXP2_0x42.bits.OUTPUT_ON_HTOT4  = false;
                 //status |= Head_Write_IO_Reg(0x42,LOW);
             break;
         case HEADCARD_HIT_MIXER:
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
index 8618524d9..211d7cbef 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
@@ -635,9 +635,9 @@ uint32_t WHS_Pid_Testing_Func(double setParam,double measuredParam)
         calculated_speed = volt + 100;
     if (calculated_speed < (volt - 100))
         calculated_speed = volt - 100;*/
-    /*usnprintf(whs_str, 150, "WHS_Pid_Testing_Func meas %d avg %d set %d error %d integral %d blower %d",
+    usnprintf(whs_str, 150, "WHS_Pid_Testing_Func meas %d avg %d set %d error %d integral %d blower %d",
               (int)(measuredParam*100),(int)(avreageSampleValue*100),(int)(setParam*100),(int)(WHS_ControlData.m_calculatedError*100),(int)(WHS_ControlData.m_integral*100),(int)(calculated_speed));
-    Report(whs_str, __FILE__,__LINE__, (int)(calculated_speed), RpMessage, (int)(volt), 0);*/
+    Report(whs_str, __FILE__,__LINE__, (int)(calculated_speed), RpMessage, (int)(volt), 0);
     /*if (fabs(WHS_ControlData.m_calculatedError)>(WHS_ControlData.m_params.MAX/2))
     {
         close_loop_time = 1;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 5f9c3130b..dc15202a6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -658,7 +658,6 @@ uint32_t MillisecLowLoop(uint32_t tick)
 #ifndef EVALUATION_BOARD
         Read_Buttons_Reg();
 #endif
-        //Ink_Cart_Led();
         ///////////////////////////////////////////////////////////////////
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 0f9848ba1..26fba0194 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -170,6 +170,7 @@ void ControlStop(void)
     ControlRestart = false;
     ADCAcquireStop();
 }
+int FPGA_ReInit_Count = 0; ///avoid too many reinitializations of motors as happens when FPGA is corrupted
 uint32_t ControlActivityLed( uint32_t Parameter1)
 {
     static bool flag = false;
@@ -192,11 +193,14 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
                     SendJobProgress(0.0,0,false, "Hardware Failure Error");
                     AbortJob("FPGA Watchdog Error");
                 }
-                ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0);
+                if (FPGA_ReInit_Count++<20)
+                {
+                    ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0);
 
-                ACTIVITY_GREEN_LED_ON;
-                FPGA_SetMotorsInit();
-                Motor_ReconfigAllMotors();
+                    ACTIVITY_GREEN_LED_ON;
+                    FPGA_SetMotorsInit();
+                    Motor_ReconfigAllMotors();
+                }
             }
         }
 		else
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 6d4d1c668..e2ade95c3 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -554,7 +554,6 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
     }
     ControlStart();
     AlarmHandlingStart();
-    //ThreadInitialTestStub(request);
     GeneralHwReady = true;
     STATUS_RED_LED_OFF;
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index f81cfb88f..328ff3203 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -691,34 +691,6 @@ return OK;
     return OK;
 }*/
 
-void Ink_Cart_Led()//temporary for ITMA
-{
-    if(Is_Cartridge_Present(CART_1) == true)
-    {
-        Pannel_Leds( CART_1,  MODE_ON);
-    }
-    else
-    {
-        Pannel_Leds( CART_1,  MODE_OFF);
-    }
-    if(Is_Cartridge_Present(CART_2) == true)
-    {
-        Pannel_Leds( CART_2,  MODE_ON);
-    }
-    else
-    {
-        Pannel_Leds( CART_2,  MODE_OFF);
-    }
-    if(Is_Cartridge_Present(CART_3) == true)
-    {
-        Pannel_Leds( CART_3,  MODE_ON);
-    }
-    else
-    {
-        Pannel_Leds( CART_3,  MODE_OFF);
-    }
-}
-
 void test_avi()
 {
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index 41e729b9b..647797b69 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -28,6 +28,9 @@ extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 extern bool HomingActive[MAX_SYSTEM_DISPENSERS];
 extern bool PrimingActive[MAX_SYSTEM_DISPENSERS];
 
+extern uint32_t LeftRockerSpeed;
+extern uint32_t RightRockerSpeed;
+
 uint32_t IDS_Dispenser_EmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 
 /*typedef struct
@@ -45,6 +48,7 @@ void IDS_Dispenser_RefillEnded (char DispenserId,char  MicroSteps);
 
 //uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);
 
+uint32_t IDS_Cleaning_Move_Actuators(void);
 uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
 uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
 uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index bdde05b43..8f10a0e5d 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -13,11 +13,73 @@
 #include "PMR/Hardware/Hardwaremotor.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
 #include "StateMachines/Printing/printingSTM.h"
+#include <Drivers/I2C_Communication/I2C_Task.h>
+
 #include "drivers/motors/motor.h"
 #include "drivers/valves/valve.h"
+#include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
 
 int SaveLeftRockerSpeed = 50, SaveRightRockerSpeed = 50;
+typedef enum
+{
+    CleaningStageIdle,
+    CleaningStageActuatorUp = 1,
+    CleaningStageDelay1,
+    CleaningStageActuatorDown,
+    CleaningStageDelay2,
+}CleaningStageEnum;
+
+/*
+ *Cleaning sequence:
+
+
+t up – time actuator goes up
+t delay1 – time actuator stays in position (up position – not limit switch)
+Down to limit -  actuator goes to lower limit switch
+t delay2 – time actuator stays in lower limit switch position
+
+Values for start:
+t up – 300 msec
+t delay1 – 500 msec
+t delay2 – 2 sec
+
+ */
+
+CleaningStageEnum CleaningStage = CleaningStageIdle;
+int CleaningStageCounter = 0;
+int Tup = 4,Tdelay1 = 9,Tdelay2 = 29;
+
+uint32_t IDS_Cleaning_Move_Actuators()
+{
+   if(Head_Type != HEAD_TYPE_SYLKO)
+       return OK;
+   if (CleaningStageCounter == 1)
+   {
+       Trigger_Head_Actuators_Control(ACTIN, LOW,true);
+       Report("IDS_Cleaning_Move_ActuatorUp", __FILE__, __LINE__, 1, RpWarning,   CleaningStageCounter, 0);
+   }
+   else if (CleaningStageCounter == Tup)
+   {
+       Trigger_Head_Actuators_Disable();
+       Report("IDS_Cleaning_Stop_Actuator", __FILE__, __LINE__, Tup, RpWarning,   CleaningStageCounter, 0);
+   }
+   else if (CleaningStageCounter == Tdelay1)
+   {
+       Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+       Report("IDS_Cleaning_MoveDown", __FILE__, __LINE__, Tdelay1, RpWarning,   CleaningStageCounter, 0);
+   }
+   else if (CleaningStageCounter == Tdelay2)
+   {
+       CleaningStageCounter = 0;
+       Report("IDS_Cleaning_Stop_delay", __FILE__, __LINE__, Tdelay2, RpWarning,   CleaningStageCounter, 0);
+   }
 
+
+
+   CleaningStageCounter++;
+
+   return OK;
+}
 uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
 {
     uint32_t status = OK;
@@ -34,17 +96,25 @@ uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
 uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback)
 {
     uint32_t status = OK;
-    status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, SaveRightRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], callback,timeout);
-    status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, SaveLeftRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], callback,timeout);
-    Report("IDS_Cleaning_Center_And_Stop_Rockers", __FILE__, __LINE__, timeout, RpWarning,   123456, 0);
+    //status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, SaveRightRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], callback,timeout);
+    //status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, SaveLeftRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], callback,timeout);
+    Trigger_Head_Actuators_Disable();
+    Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+    CleaningStageCounter = 0;
+    CleaningStage = CleaningStageIdle;
+    Report("IDS_Cleaning_Center_And_Stop_Rockers actuator down", __FILE__, __LINE__, timeout, RpWarning,   123456, 0);
 
     return status;
 }
 uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback)
 {
     uint32_t status = OK;
+    Tup = LeftRockerSpeed/100;
+    Tdelay1 = LeftRockerSpeed%100;
+    Tdelay2 = RightRockerSpeed;
     status = IDS_Dispenser_Start_Motor_and_Open_Valve(CLEANER_DISPENSER, dispenserSpeed, callback);
     Report("IDS_Cleaning_Spray_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning,   dispenserSpeed, 0);
+    Report("IDS_Cleaning parameters", __FILE__, Tup*100, Tdelay1*100, RpWarning,   Tdelay2*100, 0);
 
     return status;
 
@@ -54,6 +124,11 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback)
     uint32_t status = OK;
     status = IDS_Dispenser_Close_Valve_And_Stop_Motor(CLEANER_DISPENSER,callback);
     Report("IDS_Cleaning_Stop_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning,   status, 0);
+    if(Head_Type == HEAD_TYPE_SYLKO)
+    {
+        Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+        Report("IDS_Cleaning_MoveDown cleaning stop", __FILE__, __LINE__, Tdelay1, RpWarning,   CleaningStageCounter, 0);
+    }
 
     return status;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index b3f21e187..831fa18cd 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -45,6 +45,8 @@ extern DispenserRunningData IDS_Dispenser_Data[MAX_SYSTEM_DISPENSERS];
 //extern DispenserData IDSDispenserData;
 extern DispenserRunningData **dispenserdata;
 
+extern bool ActuatorsCleaningSequence;
+
 extern bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS];
 extern int32_t CurrentDispenserSpeed[MAX_SYSTEM_DISPENSERS];
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index a76453f95..b4442c996 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -51,6 +51,7 @@ HardwarePidControlType ThreadDispenserIdToControlId[MAX_SYSTEM_DISPENSERS] = {
 JobUploadStrategy uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
 bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
 bool IDS_Active = false;
+bool ActuatorsCleaningSequence = true;
 
 bool Special_Dispensers = false;
 /******************** STRUCTURES AND ENUMs  ********************************************/
@@ -78,7 +79,7 @@ int lInterSegmentLength = 0;
  uint32_t InterSegmentStartRocking = 0;
  uint32_t InterSegmentCenterRockers = 0;
  uint32_t LeftRockerSpeed = 20;
- uint32_t RighttRockerSpeed = 20;
+ uint32_t RightRockerSpeed = 20;
  uint32_t CleaningDispenserSpeed = 40;
  uint32_t InterSegmentStartWFCFDispensers;
  uint32_t WFCF = 80;
@@ -115,7 +116,7 @@ void IDS_Dispenser_SetPreSegmentWFCFValues(double dispenserpresegmentwfcf, doubl
      if ( ids_leftcleaningmotorspeed)
          LeftRockerSpeed = ids_leftcleaningmotorspeed;
      if ( ids_rightcleaningmotorspeed)
-         RighttRockerSpeed = ids_rightcleaningmotorspeed;
+         RightRockerSpeed = ids_rightcleaningmotorspeed;
      Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,CleaningDispenserSpeed,RpWarning,(int)LeftRockerSpeed,0);
      Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,InterSegmentStartSprayCleaner,RpWarning,(int)InterSegmentCenterRockers,0);
 
@@ -1089,6 +1090,12 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
              Report("Start cleaning rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
              //IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
          }*/
+         if (( InterSegmentStartSprayCleaner )&&
+            ((InterSegmentStepsCount>InterSegmentStartSprayCleaner)&&(InterSegmentStepsCount<(lInterSegmentLength-InterSegmentCenterRockers) )))
+         {
+             if (ActuatorsCleaningSequence)
+                 IDS_Cleaning_Move_Actuators();
+         }
          if (( InterSegmentCenterRockers)&&(InterSegmentCenterRockers == (lInterSegmentLength-InterSegmentStepsCount)))
          {
              Report("Stop spray and center rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index cbdab01d1..fd9c5b404 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -500,6 +500,30 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         response.has_progress = true;
     }
     else
+    if(request->amount == 0xAD6) //Set skip open lids
+    {
+        LOG_ERROR(request->delay,"Set SkipOpenLids");
+        SkipOpenLids = request->delay;
+        response.progress = SkipOpenLids;
+        response.has_progress = true;
+    }
+    else
+    if(request->amount == 0xAD7) //Set actuators cleaning sequence
+    {
+        LOG_ERROR(request->delay,"Set actuators cleaning sequence");
+        ActuatorsCleaningSequence = request->delay;
+        response.progress = ActuatorsCleaningSequence;
+        response.has_progress = true;
+    }
+    else
+    if(request->amount == 0xAD8) //Set ignore cone missing
+    {
+        LOG_ERROR(request->delay,"Set ignore cone missing");
+        IgnoreConeMissing = request->delay;
+        response.progress = IgnoreConeMissing;
+        response.has_progress = true;
+    }
+    else
     if((request->amount == 0x01) && ((request->delay &0x010000) == 0x010000)) //change mode powerset01
     {
         response.progress = Power_Step_01_Mode(((request->delay &0x00FF00)>>8), request->delay &0x0000FF);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index d1d23598f..3a7045a6e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -76,7 +76,6 @@ extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM];
 uint32_t InternalWinderConfigMessage(HardwareWinder* request);
 uint32_t MotorsConfigMessage( HardwareConfiguration* HW_request);
 uint32_t InternalWindingConfigMessage(JobSpool* request);
-uint32_t ThreadInitialTestStub(HardwareMotor * request);
 uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 void     SetKeepWindingCone(bool value);
 void SetWinderBackToBaseTime(uint32_t value);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 2b65ca806..f5bc45d85 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -204,6 +204,7 @@
             strcpy(LoadErrorMsg,"Thread_Load_Reduce_Heat failed");
             LoadStatus = ERROR;
             TryAgain = true;
+            //ThreadLoadButton(LoadStages);
         }
         else
         {
@@ -300,6 +301,7 @@
                     LoadStatus = ERROR;
                     ThreadLoadingReport();
                     TryAgain = true;
+                    //ThreadLoadButton(LoadStages);
                 }
                 else
                 {
@@ -544,6 +546,7 @@
                 LoadStatus = ERROR;
                 ThreadLoadingReport();
                 TryAgain = true;
+                //ThreadLoadButton(LoadStages);
             }
         }
 
@@ -647,6 +650,7 @@
             Report("Total Feeder load",__FILE__,__LINE__,dryerbufferCentimeters,RpMessage,TotalLoadedLen,0);
 
             ThreadLoadingReport();
+            //ThreadLoadButton(LoadStages);
         }
         return OK;
     }
@@ -857,6 +861,7 @@
             LoadStatus = ERROR;
             TryAgain = true;
             ThreadLoadingReport();
+            //ThreadLoadButton(LoadStages);
         }
         return OK;
     }
@@ -971,7 +976,7 @@
     uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue)
     {
         REPORT_MSG(ReadValue,"ThreadLoadStateMachine");
-        ThreadLoaded();
+        //ThreadLoaded();
         ThreadLoadingReport();
 
         if (LoadStages!=ReadValue)
@@ -1089,7 +1094,7 @@ uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
             Report("Calling State machine",__FILE__,LoadStages,LoadStatus,RpMessage,SecondTry,0);
             ThreadLoadStateMachine(LoadStages);
         }
-        else
+        else if (SecondTry == true)
         {
             SecondTry = false;
             Report("Calling State machine",__FILE__,LoadStages,LoadStatus,RpMessage,SecondTry,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 80ca05cb7..92b953db5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -54,7 +54,7 @@ double   ScrewRunningTime = 0;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
 bool     SCREW_TimerActivated = false;
 uint32_t ScrewControlId = 0xFF;
-
+bool IgnoreConeMissing = false;
 
 
 static bool KeepWindingCone = false;
@@ -156,10 +156,13 @@ uint32_t Winder_Prepare(void *JobDetails)
         REPORT_MSG(LIMIT, "No cone in winder");
         if (Is_PP_Machine())
         {
-            JobEndReason = JOB_THREAD_BREAK;
-            PrepareReady(Module_Winder,ModuleFail);
-            AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,true);
-            return ERROR;
+            if (IgnoreConeMissing == false)
+            {
+                JobEndReason = JOB_THREAD_BREAK;
+                PrepareReady(Module_Winder,ModuleFail);
+                AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,true);
+                return ERROR;
+            }
         }
     }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 4081b53f2..4339c5312 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -24,6 +24,7 @@ typedef enum threadMotorsEnum
 extern double TotalProcessedLength;
 extern double PoolerTotalProcessedLength;
 extern int SecondFeederCorrection;
+extern bool SkipOpenLids,IgnoreConeMissing;
 
 void ThreadSetBreakSensorLimit(int limit);
 
@@ -37,7 +38,6 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId);
 uint32_t ThreadSegmentState(void *SegmentDetails, int SegmentId);
 uint32_t ThreadDistanceToSpoolState(void);
 uint32_t ThreadEndState();
-uint32_t ThreadInitialTestStub();
 
 bool Set_Thread_Rockers_Bypass (int value);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 760a0726b..e1f887303 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -112,8 +112,6 @@ uint32_t MotorsConfigMessage(HardwareConfiguration * HWrequest)
             {
                 IDS_Dispenser_Init(Motor_i-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1);
             }
-//        if (Motor_i == MOTOR_RDRIVING)
-//            ThreadInitialTestStub(request);
     }
         return status;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index d762e507f..42a56ae8a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -423,7 +423,67 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     return OK;
 }
+uint16_t BreakSensorCounter = 0;
+uint16_t BreakSensorLatchCounter = 0;
+char TMessage[150];
 
+uint32_t checkBreakSensor(uint32_t index)
+{
+    if (BreakSensorenabled == true)
+    {
+        if (JobCounter > eOneSecond)
+        {
+            if (ReadBreakSensor()==ERROR)
+            {
+                BreakSensorCounter++;
+                BreakSensorLatchCounter++;
+                if (BreakSensorCounter>=BreakSensordebouncetimemilli)
+                {
+                    //consider applying the debouce parameters later
+                    usnprintf(TMessage, 60, "ReadBreakSensor Error");
+                    //BreakSensordebouncetimemilli
+                    JobEndReason = JOB_THREAD_BREAK;
+                    ThreadControlActive = false;
+                    SendJobProgress(0.0,0,false, TMessage);
+                    SendSegmentFail();
+                    //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
+                    //EndState(CurrentJob,"ReadBreakSensor Error" );
+                    ReportWithPackageFilter(ThreadFilter,"ReadBreakSensor Error",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
+                    return ERROR;
+                } //passed limit
+            }//ReadBreakSensor()==ERROR
+            else //reset counter - we are looking for consequent calls
+            {
+                if (BreakSensorCounter)
+                {
+                    ReportWithPackageFilter(ThreadFilter,"ReadBreakSensor Spike",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
+                }
+                BreakSensorCounter = 0;
+            }
+            if (CurrentControlledSpeed[index] < (OriginalMotorSpd_2PPS[index]/3))
+            {
+                BreakSensorCounter++;
+                BreakSensorLatchCounter++;
+                if (BreakSensorCounter>=BreakSensordebouncetimemilli)
+                {
+                    //consider applying the debouce parameters later
+                    usnprintf(TMessage, 60, "thread speed too low");
+                    JobEndReason = JOB_THREAD_BREAK;
+                    ThreadControlActive = false;
+                    SendJobProgress(0.0,0,false, TMessage);
+                    SendSegmentFail();
+                    //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
+                    //EndState(CurrentJob,"ReadBreakSensor Error" );
+                    ReportWithPackageFilter(ThreadFilter,"thread speed too low Error",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
+                    return ERROR;
+                }
+            }
+
+        }
+    }
+    return OK;
+
+}
 int controlIndex = 0;
 bool keepdata = true;
 int32_t KeepReadValue = 0;
@@ -477,10 +537,7 @@ void testDancersControl()
 }
 #endif
 int MotorFailedSample[MAX_THREAD_MOTORS_NUM] = {0,0,0,0,0};
-char TMessage[150];
 //char time[150];
-uint16_t BreakSensorCounter = 0;
-uint16_t BreakSensorLatchCounter = 0;
 bool FirstCalcInJob = true;
 uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
@@ -510,6 +567,11 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     index = IfIndex&0xFF;
 
+    if (index == POOLER_MOTOR) //move break sensor handling up to ensure handling even if tiing control is > 1 msec
+    {
+        if (checkBreakSensor(index) == ERROR)
+            return OK;
+    }
     if (MotorTiming[index]>1)
     {
         MotorTimer[index]++;
@@ -571,61 +633,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / (int)MotorsControl[index].pvinputfilterfactormode;
 
-        if (BreakSensorenabled == true)
-        {
-            if (index == POOLER_MOTOR)
-            {
-                if (JobCounter > eOneSecond)
-                {
-                    if (ReadBreakSensor()==ERROR)
-                    {
-                        BreakSensorCounter++;
-                        BreakSensorLatchCounter++;
-                        if (BreakSensorCounter>=BreakSensordebouncetimemilli)
-                        {
-                            //consider applying the debouce parameters later
-                            usnprintf(TMessage, 60, "ReadBreakSensor Error");
-                            //BreakSensordebouncetimemilli
-                            JobEndReason = JOB_THREAD_BREAK;
-                            ThreadControlActive = false;
-                            SendJobProgress(0.0,0,false, TMessage);
-                            SendSegmentFail();
-                            //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
-                            //EndState(CurrentJob,"ReadBreakSensor Error" );
-                            ReportWithPackageFilter(ThreadFilter,"ReadBreakSensor Error",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
-                            return OK;
-                        } //passed limit
-                    }//ReadBreakSensor()==ERROR
-                    else //reset counter - we are looking for consequent calls
-                    {
-                        if (BreakSensorCounter)
-                        {
-                            ReportWithPackageFilter(ThreadFilter,"ReadBreakSensor Spike",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
-                        }
-                        BreakSensorCounter = 0;
-                    }
-                    if (CurrentControlledSpeed[index] < (OriginalMotorSpd_2PPS[index]/3))
-                    {
-                        BreakSensorCounter++;
-                        BreakSensorLatchCounter++;
-                        if (BreakSensorCounter>=BreakSensordebouncetimemilli)
-                        {
-	                        //consider applying the debouce parameters later
-	                        usnprintf(TMessage, 60, "thread speed too low");
-	                        JobEndReason = JOB_THREAD_BREAK;
-	                        ThreadControlActive = false;
-	                        SendJobProgress(0.0,0,false, TMessage);
-	                        SendSegmentFail();
-	                        //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
-	                        //EndState(CurrentJob,"ReadBreakSensor Error" );
-                            ReportWithPackageFilter(ThreadFilter,"thread speed too low Error",__FILE__,BreakSensorCounter,(int)index,RpError,(int)JobCounter,0);
-	                        return OK;
-						}
-                    }
-
-                }
-            }
-        }
 
         //Stop Execution if the dancer moves too much
         if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
@@ -783,15 +790,6 @@ double ThreadGetMotorCalculatedError(int DancerId)
 }
 
 //********************************************************************************************************************
-uint32_t ThreadInitialTestStub(HardwareMotor * request)
-{
-
-
-    //MotorsConfigMessage(request);
-     ThreadPrepareState(request);
-     ThreadPreSegmentState(request,0);
-    return OK;
-}
 uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
 {
     if (ThreadParams == NULL)
@@ -799,21 +797,21 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
         return OK;
     }
     if(ThreadParams->feederp)
-        MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederp;
+        MotorControlConfig[FEEDER_MOTOR].m_params.Kp = ThreadParams->feederp;
     if(ThreadParams->feederi)
         MotorControlConfig[FEEDER_MOTOR].m_params.Ki = ThreadParams->feederi;
     if(ThreadParams->feederd)
         MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederd;
 
     if(ThreadParams->pullerp)
-        MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerp;
+        MotorControlConfig[POOLER_MOTOR].m_params.Kp = ThreadParams->pullerp;
     if(ThreadParams->pulleri)
         MotorControlConfig[POOLER_MOTOR].m_params.Ki = ThreadParams->pulleri;
     if(ThreadParams->pullerd)
         MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerd;
 
     if(ThreadParams->winderp)
-        MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderp;
+        MotorControlConfig[WINDER_MOTOR].m_params.Kp = ThreadParams->winderp;
     if(ThreadParams->winderi)
         MotorControlConfig[WINDER_MOTOR].m_params.Ki = ThreadParams->winderi;
     if(ThreadParams->winderd)
@@ -951,7 +949,8 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
     return status;
 }
 //********************************************************************************************************************
- uint32_t ThreadPrepareState(void *JobDetails)
+bool SkipOpenLids = true;
+uint32_t ThreadPrepareState(void *JobDetails)
 {
     int Motor_i,i, HW_Motor_Id, Pid_Id;
     JobTicket* JobTicket = JobDetails;
@@ -1016,22 +1015,30 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
         //return ERROR;
     }*/
 
-    if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT)&&(JoggingJobActive == false))
+//    if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) == LIMIT)&&(JoggingJobActive == false))
+    if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT)&&(JoggingJobActive == false))
     {
         if(Head_Type != HEAD_TYPE_STAPLE_SPUN)
         {
             ReportWithPackageFilter(ThreadFilter,"Dyeing head is wide open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpError,LIMIT,0);
-            JobEndReason = JOB_LIDS_OPEN;
-            PrepareReady(Module_Thread,ModuleFail);
-            return ERROR;
+            if (SkipOpenLids == false)
+            {
+                JobEndReason = JOB_LIDS_OPEN;
+                PrepareReady(Module_Thread,ModuleFail);
+                return ERROR;
+            }
         }
     }
-    if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID]) == LIMIT)&&(JoggingJobActive == false))
+//    if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID]) == LIMIT)&&(JoggingJobActive == false))
+    if ((FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID]) != LIMIT)&&(JoggingJobActive == false))
     {
         ReportWithPackageFilter(ThreadFilter,"Dryer lid is wide open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,RpError,LIMIT,0);
-        JobEndReason = JOB_LIDS_OPEN;
-        PrepareReady(Module_Thread,ModuleFail);
-        return ERROR;
+        if (SkipOpenLids == false)
+        {
+            JobEndReason = JOB_LIDS_OPEN;
+            PrepareReady(Module_Thread,ModuleFail);
+            return ERROR;
+        }
     }
 
     //start thread control for all motors
@@ -1057,6 +1064,8 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
             MotorControlConfig[Motor_i].m_preError = 0;
             MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
 
+		    HandleJobThreadControlParameters(JobTicket->threadparameters);  //OVERRIDES CONFIGURATION PARAMETERS!!!
+
             temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001;
             MotorTiming[Motor_i] = (int)temp_dt;
             if (MotorTiming[Motor_i])
@@ -1068,7 +1077,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
             for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++)
             {
                 //if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
-                    MotorSamples[Motor_i][i] = Control_Read_Dancer_Position(ThreadMotorIdToDancerId[Motor_i],0);  //reset the samples value for control beginning
+                    MotorSamples[Motor_i][i] = 0;
                // else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR))
                 //    MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint;
                 //MotorSpeedSamples[Motor_i][i] = 0;
@@ -1148,7 +1157,6 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
             if (Motor_i == ThreadMotorIdToMotorId[DRYER_MOTOR]) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 continue;
     }
-    HandleJobThreadControlParameters(JobTicket->threadparameters);  //OVERRIDES CONFIGURATION PARAMETERS!!!
 
 #ifdef TEST_PID_THREAD
     testDancersControl();
diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt
index a090a9612..8857b69eb 100644
--- a/Software/Embedded_SW/Embedded/Software Release Notes.txt
+++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt
@@ -1,3 +1,12 @@
+Embedded SW Release note - Version 1.4.6.35 - Pack Mid alpha
+=============================================================
+Arc head - activate arc heaters gradually
+stop FPGA Reinit after 20 trials
+Head cleaning - move actuators (with stub - 0xAD7)
+fix RML PID support
+head open prevent job - (with stub - 0xAD6)
+add stub to overrule cone missing - 0xAD8
+
 Embedded SW Release note - Version 1.4.6.34 - Pack 2+
 =============================================================
 Validate IFS and cartridge location on manual waste handling - bug #3033   
diff --git a/Software/Stubs Collection/stubs/technician view files/new head.tpf b/Software/Stubs Collection/stubs/technician view files/new head.tpf
index 25215919f..2ae59d2ed 100644
--- a/Software/Stubs Collection/stubs/technician view files/new head.tpf
+++ b/Software/Stubs Collection/stubs/technician view files/new head.tpf
@@ -27,7 +27,7 @@
           <HeaterState>
             <HeaterType>DryerAirHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>69.85</CurrentValue>
+            <CurrentValue>176.1</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -46,8 +46,8 @@
           <HeaterState>
             <HeaterType>DryerMainHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>92.97</CurrentValue>
-            <IsActive>false</IsActive>
+            <CurrentValue>208.58999999999998</CurrentValue>
+            <IsActive>true</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
@@ -65,8 +65,8 @@
           <HeaterState>
             <HeaterType>DryerSecondaryHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>92.94</CurrentValue>
-            <IsActive>true</IsActive>
+            <CurrentValue>209.10999999999999</CurrentValue>
+            <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
           </HeaterState>
@@ -84,7 +84,7 @@
           <HeaterState>
             <HeaterType>HeaterZone3</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>39.55</CurrentValue>
+            <CurrentValue>96.71</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -103,7 +103,7 @@
           <HeaterState>
             <HeaterType>HeaterZone2</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>37.29</CurrentValue>
+            <CurrentValue>88.699999999999989</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -122,7 +122,7 @@
           <HeaterState>
             <HeaterType>HeaterZone1</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>34.27</CurrentValue>
+            <CurrentValue>76.08</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -141,7 +141,7 @@
           <HeaterState>
             <HeaterType>MixerHeater</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>54.669999999999995</CurrentValue>
+            <CurrentValue>78.37</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -179,7 +179,7 @@
           <HeaterState>
             <HeaterType>HeaterZone5</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>43.389999999999993</CurrentValue>
+            <CurrentValue>0</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -289,7 +289,7 @@
           <HeaterState>
             <HeaterType>HeaterZone7</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>50.449999999999996</CurrentValue>
+            <CurrentValue>6.59</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -559,7 +559,7 @@
           <HeaterState>
             <HeaterType>HeadCoverHeater1</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>283.75</CurrentValue>
+            <CurrentValue>174.69</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -578,7 +578,7 @@
           <HeaterState>
             <HeaterType>HeadCoverHeater2</HeaterType>
             <SetPoint>0</SetPoint>
-            <CurrentValue>283.75</CurrentValue>
+            <CurrentValue>174.95999999999998</CurrentValue>
             <IsActive>false</IsActive>
             <IsRampingUp>false</IsRampingUp>
             <IsInSetPoint>true</IsInSetPoint>
@@ -654,44 +654,44 @@
           <ColorNumber>-1</ColorNumber>
         </TechItem>
         <TechItem xsi:type="ProcessParametersItem">
-          <ID>38e5d1ac-40a5-4c5f-822c-51813cb15b7b</ID>
-          <Left>31</Left>
-          <Top>144.3584070796461</Top>
-          <Width>310</Width>
-          <Height>315.12831858407088</Height>
+          <ID>d2e09fbf-2ac8-4c32-a4f5-45e50e305098</ID>
+          <Left>1016</Left>
+          <Top>821.96460176991263</Top>
+          <Width>361</Width>
+          <Height>233.95575221238948</Height>
           <Angle>0</Angle>
           <ColorNumber>-14774017</ColorNumber>
           <ProcessParameters>
             <ID>0</ID>
-            <Guid>ce709f03-59be-410d-a928-e942c0c46ce3</Guid>
-            <LastUpdated>2020-02-09T12:45:24.1272815Z</LastUpdated>
-            <Name>Process parameters 6</Name>
-            <DyeingSpeed>50</DyeingSpeed>
+            <Guid>9b265a7c-cc48-4c5a-abed-dfa8c8e3099f</Guid>
+            <LastUpdated>2020-02-09T13:11:03.3185652Z</LastUpdated>
+            <Name>Process parameters 2</Name>
+            <DyeingSpeed>0</DyeingSpeed>
             <MinInkUptake>0</MinInkUptake>
             <MaxInkUptake>0</MaxInkUptake>
             <FeederTension>0</FeederTension>
-            <PullerTension>5000</PullerTension>
-            <WinderTension>5000</WinderTension>
-            <MixerTemp>80</MixerTemp>
-            <HeadZone1Temp>80</HeadZone1Temp>
-            <HeadZone2Temp>90</HeadZone2Temp>
-            <HeadZone3Temp>110</HeadZone3Temp>
-            <HeadZone4Temp>120</HeadZone4Temp>
-            <HeadZone5Temp>120</HeadZone5Temp>
-            <HeadZone6Temp>135</HeadZone6Temp>
-            <DryerAirFlow>7</DryerAirFlow>
-            <DryerZone1Temp>190</DryerZone1Temp>
+            <PullerTension>0</PullerTension>
+            <WinderTension>0</WinderTension>
+            <MixerTemp>0</MixerTemp>
+            <HeadZone1Temp>0</HeadZone1Temp>
+            <HeadZone2Temp>0</HeadZone2Temp>
+            <HeadZone3Temp>0</HeadZone3Temp>
+            <HeadZone4Temp>0</HeadZone4Temp>
+            <HeadZone5Temp>0</HeadZone5Temp>
+            <HeadZone6Temp>0</HeadZone6Temp>
+            <DryerAirFlow>0</DryerAirFlow>
+            <DryerZone1Temp>100</DryerZone1Temp>
             <DryerZone2Temp>0</DryerZone2Temp>
             <DryerZone3Temp>0</DryerZone3Temp>
             <DryerBufferLength>0</DryerBufferLength>
-            <HeadAirFlow>12</HeadAirFlow>
+            <HeadAirFlow>0</HeadAirFlow>
             <TableIndex>0</TableIndex>
-            <HeadZone7Temp>135</HeadZone7Temp>
-            <HeadZone8Temp>125</HeadZone8Temp>
-            <HeadZone9Temp>135</HeadZone9Temp>
-            <HeadZone10Temp>135</HeadZone10Temp>
-            <HeadZone11Temp>140</HeadZone11Temp>
-            <HeadZone12Temp>140</HeadZone12Temp>
+            <HeadZone7Temp>0</HeadZone7Temp>
+            <HeadZone8Temp>0</HeadZone8Temp>
+            <HeadZone9Temp>0</HeadZone9Temp>
+            <HeadZone10Temp>0</HeadZone10Temp>
+            <HeadZone11Temp>0</HeadZone11Temp>
+            <HeadZone12Temp>0</HeadZone12Temp>
             <RBlowerFlow>0</RBlowerFlow>
             <RBlowerTemp>0</RBlowerTemp>
             <LBlowerFlow>0</LBlowerFlow>
@@ -700,159 +700,166 @@
           </ProcessParameters>
           <ParametersIndices>
             <ParameterIndex>
-              <Name>Process Parameters Tables Group Guid</Name>
+              <Name>Name</Name>
               <Index>0</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Name</Name>
+              <Name>Dyeing Speed</Name>
               <Index>1</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Table Index</Name>
+              <Name>Min Ink Uptake</Name>
               <Index>2</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Dyeing Speed</Name>
+              <Name>Max Ink Uptake</Name>
               <Index>3</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Min Ink Uptake</Name>
+              <Name>Feeder Tension</Name>
               <Index>4</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Max Ink Uptake</Name>
+              <Name>Puller Tension</Name>
               <Index>5</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Feeder Tension</Name>
+              <Name>Winder Tension</Name>
               <Index>6</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Puller Tension</Name>
+              <Name>Mixer Temp</Name>
               <Index>7</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Winder Tension</Name>
+              <Name>Head Zone 1 Temp</Name>
               <Index>8</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Mixer Temp</Name>
+              <Name>Head Zone 2 Temp</Name>
               <Index>9</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 1 Temp</Name>
+              <Name>Head Zone 3 Temp</Name>
               <Index>10</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 2 Temp</Name>
+              <Name>Head Zone 4 Temp</Name>
               <Index>11</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 3 Temp</Name>
+              <Name>Head Zone 5 Temp</Name>
               <Index>12</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 4 Temp</Name>
+              <Name>Head Zone 6 Temp</Name>
               <Index>13</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 5 Temp</Name>
+              <Name>Dryer Air Flow</Name>
               <Index>14</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 6 Temp</Name>
+              <Name>Dryer Zone 1 Temp</Name>
               <Index>15</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 7 Temp</Name>
+              <Name>Dryer Zone 2 Temp</Name>
               <Index>16</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 8 Temp</Name>
+              <Name>Dryer Zone 3 Temp</Name>
               <Index>17</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 9 Temp</Name>
+              <Name>Dryer Buffer Length</Name>
               <Index>18</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 10 Temp</Name>
+              <Name>Head Air Flow</Name>
               <Index>19</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 11 Temp</Name>
+              <Name>Process Parameters Tables Group Guid</Name>
               <Index>20</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 12 Temp</Name>
+              <Name>Table Index</Name>
               <Index>21</Index>
             </ParameterIndex>
-            <ParameterIndex>
-              <Name>St Sp Zone 1 Temp</Name>
-              <Index>22</Index>
-            </ParameterIndex>
-            <ParameterIndex>
-              <Name>St Sp Zone 2 Temp</Name>
-              <Index>23</Index>
-            </ParameterIndex>
-            <ParameterIndex>
-              <Name>Dryer Zone 1 Temp</Name>
-              <Index>24</Index>
-            </ParameterIndex>
-            <ParameterIndex>
-              <Name>Dryer Zone 2 Temp</Name>
-              <Index>25</Index>
-            </ParameterIndex>
-            <ParameterIndex>
-              <Name>Dryer Zone 3 Temp</Name>
-              <Index>26</Index>
-            </ParameterIndex>
-            <ParameterIndex>
-              <Name>Dryer Air Flow</Name>
-              <Index>27</Index>
-            </ParameterIndex>
-            <ParameterIndex>
-              <Name>Head Air Flow</Name>
-              <Index>28</Index>
-            </ParameterIndex>
-            <ParameterIndex>
-              <Name>Dryer Buffer Length</Name>
-              <Index>29</Index>
-            </ParameterIndex>
           </ParametersIndices>
         </TechItem>
+        <TechItem xsi:type="MonitorItem">
+          <ID>11f4748e-ed30-48d6-a08a-afeaa0277e2e</ID>
+          <Left>330</Left>
+          <Top>12.154867256637203</Top>
+          <Width>205</Width>
+          <Height>90.181415929203524</Height>
+          <Angle>0</Angle>
+          <ItemGuid>1778C1A7-AFB5-42F9-9E00-E80D30D9FC02</ItemGuid>
+          <ColorNumber>-1</ColorNumber>
+          <UpdateInterval>10</UpdateInterval>
+          <DecimalPoints>2</DecimalPoints>
+        </TechItem>
+        <TechItem xsi:type="SingleGraphItem">
+          <ID>dcf78507-ea09-4529-b635-ec1eeed31141</ID>
+          <Left>145</Left>
+          <Top>842.58849557522137</Top>
+          <Width>357</Width>
+          <Height>215.82743362831855</Height>
+          <Angle>0</Angle>
+          <ItemGuid>FE0D0A56-5795-4C5A-8E09-939FBB35C441</ItemGuid>
+          <ColorNumber>-14774017</ColorNumber>
+          <Duration>1275</Duration>
+          <Min>0</Min>
+          <Max>100</Max>
+          <UseAutoRange>true</UseAutoRange>
+          <DecimalPlaces>2</DecimalPlaces>
+        </TechItem>
+        <TechItem xsi:type="MonitorItem">
+          <ID>85762a06-25d4-457a-9974-7eab916d65c5</ID>
+          <Left>540</Left>
+          <Top>4.0486725663717493</Top>
+          <Width>205</Width>
+          <Height>90.181415929203524</Height>
+          <Angle>0</Angle>
+          <ItemGuid>055D0A38-09BD-490D-9852-12B06A4B22F2</ItemGuid>
+          <ColorNumber>-1</ColorNumber>
+          <UpdateInterval>10</UpdateInterval>
+          <DecimalPoints>0</DecimalPoints>
+        </TechItem>
         <TechItem xsi:type="ProcessParametersItem">
-          <ID>d2e09fbf-2ac8-4c32-a4f5-45e50e305098</ID>
-          <Left>1016</Left>
-          <Top>821.96460176991263</Top>
-          <Width>361</Width>
-          <Height>233.95575221238948</Height>
+          <ID>36f69103-89b6-4076-b8f3-bf4a0806ba05</ID>
+          <Left>18.250000000000007</Left>
+          <Top>132.59405940594058</Top>
+          <Width>317.70833333333337</Width>
+          <Height>392.24752475247521</Height>
           <Angle>0</Angle>
           <ColorNumber>-14774017</ColorNumber>
           <ProcessParameters>
             <ID>0</ID>
-            <Guid>9b265a7c-cc48-4c5a-abed-dfa8c8e3099f</Guid>
-            <LastUpdated>2020-02-09T13:11:03.3185652Z</LastUpdated>
-            <Name>Process parameters 2</Name>
-            <DyeingSpeed>0</DyeingSpeed>
+            <Guid>0025b28d-1475-4af2-b50e-ecc344c3e43a</Guid>
+            <LastUpdated>2020-07-05T08:17:42.9870702Z</LastUpdated>
+            <Name>Process parameters 4</Name>
+            <DyeingSpeed>50</DyeingSpeed>
             <MinInkUptake>0</MinInkUptake>
             <MaxInkUptake>0</MaxInkUptake>
             <FeederTension>0</FeederTension>
             <PullerTension>0</PullerTension>
             <WinderTension>0</WinderTension>
-            <MixerTemp>0</MixerTemp>
-            <HeadZone1Temp>0</HeadZone1Temp>
-            <HeadZone2Temp>0</HeadZone2Temp>
-            <HeadZone3Temp>0</HeadZone3Temp>
+            <MixerTemp>80</MixerTemp>
+            <HeadZone1Temp>80</HeadZone1Temp>
+            <HeadZone2Temp>90</HeadZone2Temp>
+            <HeadZone3Temp>100</HeadZone3Temp>
             <HeadZone4Temp>0</HeadZone4Temp>
             <HeadZone5Temp>0</HeadZone5Temp>
             <HeadZone6Temp>0</HeadZone6Temp>
             <DryerAirFlow>0</DryerAirFlow>
-            <DryerZone1Temp>100</DryerZone1Temp>
+            <DryerZone1Temp>180</DryerZone1Temp>
             <DryerZone2Temp>0</DryerZone2Temp>
             <DryerZone3Temp>0</DryerZone3Temp>
             <DryerBufferLength>0</DryerBufferLength>
-            <HeadAirFlow>0</HeadAirFlow>
+            <HeadAirFlow>3</HeadAirFlow>
             <TableIndex>0</TableIndex>
             <HeadZone7Temp>0</HeadZone7Temp>
             <HeadZone8Temp>0</HeadZone8Temp>
@@ -860,142 +867,147 @@
             <HeadZone10Temp>0</HeadZone10Temp>
             <HeadZone11Temp>0</HeadZone11Temp>
             <HeadZone12Temp>0</HeadZone12Temp>
-            <RBlowerFlow>0</RBlowerFlow>
-            <RBlowerTemp>0</RBlowerTemp>
-            <LBlowerFlow>0</LBlowerFlow>
-            <LBlowerTemp>0</LBlowerTemp>
+            <RBlowerFlow>180</RBlowerFlow>
+            <RBlowerTemp>180</RBlowerTemp>
+            <LBlowerFlow>180</LBlowerFlow>
+            <LBlowerTemp>180</LBlowerTemp>
             <PressureBuildUp>0</PressureBuildUp>
           </ProcessParameters>
           <ParametersIndices>
             <ParameterIndex>
-              <Name>Name</Name>
+              <Name>Process Parameters Tables Group Guid</Name>
               <Index>0</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Dyeing Speed</Name>
+              <Name>Name</Name>
               <Index>1</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Min Ink Uptake</Name>
+              <Name>Table Index</Name>
               <Index>2</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Max Ink Uptake</Name>
+              <Name>Dyeing Speed</Name>
               <Index>3</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Feeder Tension</Name>
+              <Name>Min Ink Uptake</Name>
               <Index>4</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Puller Tension</Name>
+              <Name>Max Ink Uptake</Name>
               <Index>5</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Winder Tension</Name>
+              <Name>Feeder Tension</Name>
               <Index>6</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Mixer Temp</Name>
+              <Name>Puller Tension</Name>
               <Index>7</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 1 Temp</Name>
+              <Name>Winder Tension</Name>
               <Index>8</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 2 Temp</Name>
+              <Name>Mixer Temp</Name>
               <Index>9</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 3 Temp</Name>
+              <Name>Head Zone 1 Temp</Name>
               <Index>10</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 4 Temp</Name>
+              <Name>Head Zone 2 Temp</Name>
               <Index>11</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 5 Temp</Name>
+              <Name>Head Zone 3 Temp</Name>
               <Index>12</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Zone 6 Temp</Name>
+              <Name>Head Zone 4 Temp</Name>
               <Index>13</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Dryer Air Flow</Name>
+              <Name>Head Zone 5 Temp</Name>
               <Index>14</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Dryer Zone 1 Temp</Name>
+              <Name>Head Zone 6 Temp</Name>
               <Index>15</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Dryer Zone 2 Temp</Name>
+              <Name>Head Zone 7 Temp</Name>
               <Index>16</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Dryer Zone 3 Temp</Name>
+              <Name>Head Zone 8 Temp</Name>
               <Index>17</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Dryer Buffer Length</Name>
+              <Name>Head Zone 9 Temp</Name>
               <Index>18</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Head Air Flow</Name>
+              <Name>Head Zone 10 Temp</Name>
               <Index>19</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Process Parameters Tables Group Guid</Name>
+              <Name>Head Zone 11 Temp</Name>
               <Index>20</Index>
             </ParameterIndex>
             <ParameterIndex>
-              <Name>Table Index</Name>
+              <Name>Head Zone 12 Temp</Name>
               <Index>21</Index>
             </ParameterIndex>
+            <ParameterIndex>
+              <Name>R Blower Flow</Name>
+              <Index>22</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>R Blower Temp</Name>
+              <Index>23</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>L Blower Flow</Name>
+              <Index>24</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>L Blower Temp</Name>
+              <Index>25</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>Dryer Zone 1 Temp</Name>
+              <Index>26</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>Dryer Zone 2 Temp</Name>
+              <Index>27</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>Dryer Zone 3 Temp</Name>
+              <Index>28</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>Dryer Air Flow</Name>
+              <Index>29</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>Head Air Flow</Name>
+              <Index>30</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>Dryer Buffer Length</Name>
+              <Index>31</Index>
+            </ParameterIndex>
+            <ParameterIndex>
+              <Name>Pressure Build Up</Name>
+              <Index>32</Index>
+            </ParameterIndex>
           </ParametersIndices>
         </TechItem>
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