diff --git a/conf/e240.txt b/conf/e240.txt
new file mode 100644
index 00000000..5e3ee6f2
--- /dev/null
+++ b/conf/e240.txt
@@ -0,0 +1,30 @@
+conf0.r = 1.5
+conf0.l = 0.0025
+conf0.j = 0.00005
+conf0.psi = 0.04774
+conf0.polecount = 1
+conf0.mot_type = 3
+conf0.out_rev = 0.000000
+
+conf0.max_vel = 837.75
+conf0.max_acc = 83775
+conf0.max_force = 2
+conf0.max_dc_cur = 10
+conf0.max_ac_cur = 6
+
+conf0.fb_type = 1
+conf0.fb_res = 2048
+
+conf0.cmd_type = 1
+conf0.cmd_res = 2000
+
+conf0.p = 1
+conf0.pos_p = 150
+conf0.vel_p = 1
+conf0.acc_p = 1
+conf0.acc_pi = 100
+conf0.cur_p = 0.5
+conf0.cur_i = 0.001
+conf0.cur_ff = 1
+conf0.cur_ind = 0.9
+conf0.max_sat = 0.2
diff --git a/shared/common.h b/shared/common.h
index afd2e5f6..71a0b069 100644
--- a/shared/common.h
+++ b/shared/common.h
@@ -32,6 +32,7 @@ typedef struct{
    int16_t dc_cur;
    int16_t dc_volt;
    int16_t hv_temp;
+   uint16_t status;
 #ifdef TROLLER
    int16_t a;
    int16_t b;
@@ -43,6 +44,7 @@ typedef struct{
 typedef struct{
    int16_t a;
    int16_t b;
+   uint16_t mode;
 } to_hv_t;
 
 typedef struct{
diff --git a/src/comps/hv.comp b/src/comps/hv.comp
index f8c1b2ca..fd7dbf04 100644
--- a/src/comps/hv.comp
+++ b/src/comps/hv.comp
@@ -2,6 +2,7 @@ HAL_COMP(hv);
 
 HAL_PIN(a) = 0.0;
 HAL_PIN(b) = 0.0;
+HAL_PIN(mode) = 0.0;
 
 HAL_PIN(enable) = 0.0;
 HAL_PIN(error) = 0.0;
@@ -147,6 +148,7 @@ RT(
   if(e > 0.0){
     packet_to_hv.data.a = TOFIXED(a);
     packet_to_hv.data.b = TOFIXED(b);
+    packet_to_hv.data.mode = PIN(mode);
   }
   else{
     packet_to_hv.data.a = 0;
diff --git a/src/comps/term.comp b/src/comps/term.comp
index 2fdaec62..b58a74a9 100644
--- a/src/comps/term.comp
+++ b/src/comps/term.comp
@@ -102,6 +102,7 @@ int load(){
    //update cmd/fb links
    update_cmd();
    update_fb();
+   update_mot();
    return 0;
 }
 
diff --git a/src/link.c b/src/link.c
index 65088c47..4eaa3d58 100644
--- a/src/link.c
+++ b/src/link.c
@@ -203,6 +203,28 @@ void link_pid(){
    hal_link_pins("conf0.cos_offset", "adc0.cos_offset");
 }
 
+int update_mot(){
+   switch((mot_type_t)hal_get_pin("conf0.mot_type")){
+      case ACSYNC:
+         //TODO: copy acsync stuff from link_pid here
+         hal_link_pins("curpid0.uq", "idq0.q");
+         hal_set_pin("hv0.mode", 0.0);
+         break;
+      case ACASYNC:
+         break;
+      case AC2PHASE:
+         break;
+      case DC:
+         //TODO: implement proper dc model
+         hal_link_pins("curpid0.uq", "hv0.a");
+         hal_set_pin("hv0.mode", 1.0);
+         break;
+      default:
+         return -1;
+   }
+   return 0;
+}
+
 int update_fb(){
    hal_set_pin("adc0.rt_prio", -1.0);
    hal_set_pin("enc_fb0.rt_prio", -1.0);
@@ -280,7 +302,7 @@ int update_cmd(){
          //this breaks cmd rev...
          hal_link_pins("vel_int0.pos_out", "net0.cmd");
          hal_link_pins("vel_int0.vel_out", "net0.cmd_d");
-         hal_linkpin("vel_int0.wd", 0.002);//TODO: this depends on linuxcnc servo thread period
+         hal_set_pin("vel_int0.wd", 0.002);//TODO: this depends on linuxcnc servo thread period
          //TODO: handle error of vel_int
          hal_set_pin("sserial0.rt_prio", 2.0);
          hal_set_pin("sserial0.frt_prio", 2.0);
diff --git a/src/link.h b/src/link.h
index b25a43c6..0fd893a6 100644
--- a/src/link.h
+++ b/src/link.h
@@ -19,6 +19,14 @@ typedef enum{
   SSI
 } protocol_t;
 
+typedef enum{
+  ACSYNC = 0,
+  ACASYNC,
+  AC2PHASE,
+  DC
+} mot_type_t;
+
 void link_pid();
 int update_cmd();
 int update_fb();
+int update_mot();
diff --git a/stm32f103/src/main.c b/stm32f103/src/main.c
index ce7ec17d..59151538 100644
--- a/stm32f103/src/main.c
+++ b/stm32f103/src/main.c
@@ -409,44 +409,55 @@ void USART2_IRQHandler(){
 		float ua = TOFLOAT(packet_to_hv.data.a);
 		float ub = TOFLOAT(packet_to_hv.data.b);
 
-		float u = ua; // inverse clarke
-		float v = - ua / 2.0 + ub / 2.0 * SQRT3;
-		float w = - ua / 2.0 - ub / 2.0 * SQRT3;
+      if(packet_to_hv.data.mode == 0){//a,b voltages
+         float u = ua; // inverse clarke
+         float v = - ua / 2.0 + ub / 2.0 * SQRT3;
+         float w = - ua / 2.0 - ub / 2.0 * SQRT3;
 
-		//TODO: clamping
-		u += volt / 2.0;
-		v += volt / 2.0;
-		w += volt / 2.0;
+         //TODO: clamping
+         u += volt / 2.0;
+         v += volt / 2.0;
+         w += volt / 2.0;
 
-		if(u < v){
-			if(u < w){
-				v -= u;
-				w -= u;
-				u = 0.0;
-			}
-			else{
-				u -= w;
-				v -= w;
-				w = 0.0;
-			}
-		}
-		else{
-			if(v < w){
-				u -= v;
-				w -= v;
-				v = 0.0;
-			}
-			else{
-				u -= w;
-				v -= w;
-				w = 0.0;
-			}
-		}
-
-		PWM_U = CLAMP(u / volt * PWM_RES, 0, PWM_RES * 0.95);
-		PWM_V = CLAMP(v / volt * PWM_RES, 0, PWM_RES * 0.95);
-		PWM_W = CLAMP(w / volt * PWM_RES, 0, PWM_RES * 0.95);
+         if(u < v){
+            if(u < w){
+               v -= u;
+               w -= u;
+               u = 0.0;
+            }
+            else{
+               u -= w;
+               v -= w;
+               w = 0.0;
+            }
+         }
+         else{
+            if(v < w){
+               u -= v;
+               w -= v;
+               v = 0.0;
+            }
+            else{
+               u -= w;
+               v -= w;
+               w = 0.0;
+            }
+         }
 
+         PWM_U = CLAMP(u / volt * PWM_RES, 0, PWM_RES * 0.95);
+         PWM_V = CLAMP(v / volt * PWM_RES, 0, PWM_RES * 0.95);
+         PWM_W = CLAMP(w / volt * PWM_RES, 0, PWM_RES * 0.95);
+      }else if(packet_to_hv.data.mode == 1){//DC, a: -dclink ... +dclink
+         ua += volt;
+         PWM_U = CLAMP(ua / (volt*2.0) * PWM_RES, 0, PWM_RES * 0.95);
+         PWM_V = CLAMP((1.0 - (ua / (volt*2.0))) * PWM_RES, 0, PWM_RES * 0.95);
+         PWM_W = 0;
+      }else{
+         PWM_U = 0;
+         PWM_V = 0;
+         PWM_W = 0;
+      }
+      
 		timeout = 0; //reset timeout
 	}
 }