diff --git a/conf/r2aa04003f.txt b/conf/r2aa04003f.txt
new file mode 100644
index 00000000..cc95e5b8
--- /dev/null
+++ b/conf/r2aa04003f.txt
@@ -0,0 +1,11 @@
+link pid
+link pmsm
+link encs_fb0
+link misc
+link jog_cmd
+conf0.r = 12
+conf0.l = 0.00066
+conf0.j = 0.00000247
+conf0.max_force = 0.4
+conf0.max_ac_cur = 2
+conf0.polecount = 5
\ No newline at end of file
diff --git a/conf/r2aa06020f.txt b/conf/r2aa06020f.txt
new file mode 100644
index 00000000..6f060d7a
--- /dev/null
+++ b/conf/r2aa06020f.txt
@@ -0,0 +1,11 @@
+link pid
+link pmsm
+link encs_fb0
+link misc
+link jog_cmd
+conf0.r = 2.7
+conf0.l = 0.0007
+conf0.j = 0.0000219
+conf0.max_force = 2.2
+conf0.max_ac_cur = 5.6
+conf0.polecount = 5
\ No newline at end of file
diff --git a/conf/template/encs_fb0.txt b/conf/template/encs_fb0.txt
new file mode 100644
index 00000000..c94b4e7c
--- /dev/null
+++ b/conf/template/encs_fb0.txt
@@ -0,0 +1,10 @@
+load encs
+encs0.rt_prio = 2
+fb_switch0.mot_pos = encs0.pos
+fb_switch0.mot_abs_pos = encs0.pos
+fb_switch0.mot_polecount = conf0.mot_fb_polecount
+fb_switch0.mot_state = encs0.state
+fault0.mot_fb_error = encs0.error
+io0.fb0y = encs0.error
+io0.fb0g = 1
+fb_switch0.mot_state = 3
\ No newline at end of file
diff --git a/src/comps/encs.c b/src/comps/encs.c
index 13b0cfb0..21c7a9c3 100644
--- a/src/comps/encs.c
+++ b/src/comps/encs.c
@@ -52,30 +52,33 @@ volatile uint32_t reply_buf[NUM_OF_SAMPLES_S + 1];
 volatile uint32_t request_buf[24];
 DMA_InitTypeDef dma_tx_config;
 DMA_InitTypeDef dma_rx_config;
+GPIO_InitTypeDef GPIO_InitStruct_tx;
+GPIO_InitTypeDef GPIO_InitStruct_rx;
 
 static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   // struct encs_ctx_t *ctx = (struct encs_ctx_t *)ctx_ptr;
   struct encs_pin_ctx_t *pins = (struct encs_pin_ctx_t *)pin_ptr;
 
-  GPIO_InitTypeDef GPIO_InitStruct;
+  
   //TX enable
-  GPIO_InitStruct.GPIO_Pin   = FB0_Z_TXEN_PIN;
-  GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_OUT;
-  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
-  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_25MHz;
-  GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
-  GPIO_Init(FB0_Z_TXEN_PORT, &GPIO_InitStruct);
+  GPIO_InitStruct_tx.GPIO_Pin   = FB0_Z_TXEN_PIN;
+  GPIO_InitStruct_tx.GPIO_Mode  = GPIO_Mode_OUT;
+  GPIO_InitStruct_tx.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStruct_tx.GPIO_Speed = GPIO_Speed_25MHz;
+  GPIO_InitStruct_tx.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+  GPIO_Init(FB0_Z_TXEN_PORT, &GPIO_InitStruct_tx);
   GPIO_ResetBits(FB0_Z_TXEN_PORT, FB0_Z_TXEN_PIN);
 
   //TX
-  GPIO_InitStruct.GPIO_Pin   = FB0_Z_PIN;
-  GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_OUT;
-  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
-  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
-  GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
-  GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct);
+  GPIO_InitStruct_tx.GPIO_Pin   = FB0_Z_PIN;
+  GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct_tx);
   GPIO_ResetBits(FB0_Z_PORT, FB0_Z_PIN);
 
+  GPIO_InitStruct_rx.GPIO_Pin   = FB0_Z_PIN;
+  GPIO_InitStruct_rx.GPIO_Mode  = GPIO_Mode_IN;
+  GPIO_InitStruct_rx.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStruct_rx.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+
   //RX
   //v3 only
   // GPIO_InitStruct.GPIO_Pin = GPIO_Pin_11;
@@ -178,6 +181,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
 
   if(PIN(en) > 0.0) {
     //request
+    GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct_tx);
     TIM8->ARR = 32;  //2.545 Mhz
     DMA_Cmd(DMA2_Stream1, DISABLE);
     DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1);
@@ -187,8 +191,9 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     //wait for DMA transfer complete
     while(DMA_GetFlagStatus(DMA2_Stream1, DMA_FLAG_TCIF1) == RESET)
       ;
-    //TODO: set pin to input
+
     //reply
+    GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct_rx);
     TIM8->ARR = 4;  //16.8 Mhz
     DMA_Cmd(DMA2_Stream1, DISABLE);
     DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1);