diff --git a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.c b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.c
index 7cb9bbc..504903c 100644
--- a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.c
+++ b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.c
@@ -110,3 +110,15 @@ void Gpio95out(uint16_t out_bit)
 {
     GpioDataRegs.GPCDAT.bit.GPIO95 = out_bit;
 }
+
+void GpioTurnOnRele(void)
+{
+    GpioDataRegs.GPCDAT.bit.GPIO95 = 1;
+}
+
+void GpioTurnOffRele(void)
+{
+    GpioDataRegs.GPCDAT.bit.GPIO95 = 0;
+}
+
+
diff --git a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.h b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.h
index 621135b..14e1da4 100644
--- a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.h
+++ b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/gpio_init.h
@@ -1,7 +1,7 @@
 /*
  * gpio_init.h
  *
- *  Created on: 4 ñåíò. 2023 ã.
+ *  Created on: 4 ����. 2023 �.
  *      Author: seklyuts
  */
 
@@ -38,5 +38,7 @@ void Gpio56out(uint16_t out_bit);
 void Gpio57out(uint16_t out_bit);
 void Gpio95out(uint16_t out_bit);
 void Gpio_rainbow(uint16_t color);
+void GpioTurnOnRele(void);
+void GpioTurnOffRele(void);
 
 #endif /* SRC_GPIO_INIT_H_ */
diff --git a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c
index f493367..0c16a40 100644
--- a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c
+++ b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_interrupts.c
@@ -19,6 +19,7 @@
 #include "biss.h"
 #include "eqep.h"
 #include "temperature.h"
+#include "rele.h"
 
 volatile uint16_t AutoChange = 0;
 volatile uint16_t PWM_out = 2500;
@@ -146,6 +147,8 @@ __interrupt void epwm2_isr(void)
         EPwmRegs[3]->CMPB.bit.CMPB = PERIOD_MOTOR - PWM_Chop;
         Test_ADC_PWM_Synch1++;
         if(TestStopSync == 2)  TestStopSync = 3;
+        if(rele_isReleOn()) GpioTurnOnRele();
+        else GpioTurnOffRele();
     }
     else Test_ADC_PWM_Synch2++;
     //
diff --git a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.h b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.h
index b8b6930..3fb19d4 100644
--- a/Projects/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.h
+++ b/Projects/epwm_test_biss_c_cpu2/src/Peripherals/sdfm.h
@@ -35,7 +35,7 @@
 
 #define BIT_MAX             32768//4096
 
-#define FACTOR_VDC         (SDFM_VOLTAGE_MAX/R_VDC*(R_DEL_VDC+R_VDC)/1000)
+#define FACTOR_VDC         (SDFM_VOLTAGE_MAX/R_VDC*(R_DEL_VDC+R_VDC)/1000) //=  320/806*(2000000+806)/1000
 
 #define FACTOR_CURRENT_BRAKE_A (SDFM_VOLTAGE_MAX/R_BRAKE)         //A
 #define FACTOR_CURRENT_MOTOR_A   (SDFM_VOLTAGE_MAX/R_DRW)            //A
diff --git a/Projects/epwm_test_biss_c_cpu2/src/frmmstr_run.c b/Projects/epwm_test_biss_c_cpu2/src/frmmstr_run.c
index 11e120c..eb846e6 100644
--- a/Projects/epwm_test_biss_c_cpu2/src/frmmstr_run.c
+++ b/Projects/epwm_test_biss_c_cpu2/src/frmmstr_run.c
@@ -13,7 +13,7 @@
 volatile uint16_t counter=0 ;
 volatile uint16_t counter1=0 ;
 volatile uint16_t counter2=0 ;
-volatile uint16_t Rele=0;
+
 volatile uint16_t testMode = 0;
 
 //uint16_t PWM_Vent1;
@@ -60,7 +60,10 @@ static    uint16_t diod = 0;
     }
     else
     {
-        Gpio95out(Rele);
+        //Gpio95out(Rele);
+        //if(vectorReleOn()) GpioTurnOnRele;
+        //else GpioTurnOffRele;
+
         if(fault_read_check())
         {
                 fault_read_clr();
diff --git a/Projects/epwm_test_biss_c_cpu2/src/init_perif.c b/Projects/epwm_test_biss_c_cpu2/src/init_perif.c
index e59621b..f236f54 100644
--- a/Projects/epwm_test_biss_c_cpu2/src/init_perif.c
+++ b/Projects/epwm_test_biss_c_cpu2/src/init_perif.c
@@ -22,6 +22,7 @@
 #include "fault.h"
 #include "temperature.h"
 #include "eqep.h"
+#include "rele.h"
 
 void InitPerif(void)
 {
@@ -85,6 +86,9 @@ void InitPerif(void)
     temperatureInit();
 #endif
 
+    faultInit();
+    rele_initRele();
+
 //
 // Enable global Interrupts and higher priority real-time debug events:
 //
@@ -93,7 +97,7 @@ void InitPerif(void)
 
     I2CMasterInit(I2C_OWN_ADDRESS,I2C_FAULT_SLAVE_ADDRESS);
 
-    faultInit();
+
 
 
 }
diff --git a/Projects/epwm_test_biss_c_cpu2/src/rele.c b/Projects/epwm_test_biss_c_cpu2/src/rele.c
new file mode 100644
index 0000000..25698ef
--- /dev/null
+++ b/Projects/epwm_test_biss_c_cpu2/src/rele.c
@@ -0,0 +1,53 @@
+/*
+ * rele.c
+ *
+ *  Created on: 3 июл. 2024 г.
+ *      Author: seklyuts
+ */
+#include "f28x_project.h"
+#include "sdfm.h"
+#include "vector.h"
+#include "rele.h"
+
+
+TRele Rele;
+
+uint16_t rele_isReleOn(void)
+{
+    return Rele.State;
+}
+
+
+void rele_initRele(void)
+{
+    Rele.State = 0;
+    Rele.ReleCounter = 0;
+    Rele.CounterMax = RELE_COUNTER_MAX;
+    Rele.UdcDiff = RELE_UDC_DIFF;
+    Rele.Error = 0;
+}
+
+
+void rele_run(int16_t UdcFiltered)
+{
+    Gpio95out(Rele.State);
+    if(!Rele.State)
+    {
+        vectorFault();
+        Rele.ReleCounter = 0;
+        Rele.Error = 0;
+    }
+    else {
+        if(Rele.ReleCounter == 0) Rele.Udc = UdcFiltered;
+        if(Rele.ReleCounter < Rele.CounterMax) {Rele.ReleCounter++; vectorFault();}
+        else
+        {
+            if((UdcFiltered - Rele.Udc ) < Rele.UdcDiff)
+            {
+                vectorFault();
+                Rele.Error = 1;
+            }
+        }
+    }
+
+}
diff --git a/Projects/epwm_test_biss_c_cpu2/src/rele.h b/Projects/epwm_test_biss_c_cpu2/src/rele.h
new file mode 100644
index 0000000..ed88ce0
--- /dev/null
+++ b/Projects/epwm_test_biss_c_cpu2/src/rele.h
@@ -0,0 +1,29 @@
+/*
+ * rele.h
+ *
+ *  Created on: 3 июл. 2024 г.
+ *      Author: seklyuts
+ */
+
+#ifndef SRC_RELE_H_
+#define SRC_RELE_H_
+
+#define RELE_COUNTER_MAX            30
+#define RELE_UDC_DIFF_VOLT          5.0
+#define RELE_UDC_DIFF               (RELE_UDC_DIFF_VOLT*BIT_MAX/FACTOR_VDC)
+
+uint16_t rele_isReleOn(void);
+void rele_initRele(void);
+void rele_run(int16_t UdcFiltered);
+
+typedef struct
+{
+  uint16_t State;
+  uint16_t ReleCounter;
+  uint16_t CounterMax;
+  int16_t Udc;
+  int16_t UdcDiff;
+  uint16_t Error;
+}TRele;
+
+#endif /* SRC_RELE_H_ */
diff --git a/Projects/epwm_test_biss_c_cpu2/src/vector.c b/Projects/epwm_test_biss_c_cpu2/src/vector.c
index df9c9fb..a0e8db5 100644
--- a/Projects/epwm_test_biss_c_cpu2/src/vector.c
+++ b/Projects/epwm_test_biss_c_cpu2/src/vector.c
@@ -19,14 +19,15 @@
 #include "adc_init.h"
 #include "biss.h"
 #include "temperature.h"
+#include "rele.h"
 
 #define     IMAX_A          35.0 //A
 #define     IMAX            (IMAX_A*BIT_MAX/FACTOR_CURRENT_MOTOR_A)
 
 typedef struct {
-    int16_t Value16in;      // Нефильрованное значение
-    int16_t Value16filtered;    // Фильрованное значение
-    int32_t Value32;            // Конечное напр�жение тренировки
+    int16_t Value16in;      //
+    int16_t Value16filtered;    //
+    int32_t Value32;            //
     int16_t ShiftFilter;        // Filters
 } Filtered;
 
@@ -78,11 +79,17 @@ int16_t Angle_test=0,sin_int,cos_int, AngleErr;
 float Udc;
 uint16_t SectorCheckOn=1;
 volatile int16_t UdcFiltered = 0;
+volatile int16_t Udc_rele = 0;
 float UdcVolt = 0;
 volatile float VdcFactor = FACTOR_VDC;
 volatile uint16_t VoltProcImit = 0;
 
 
+
+
+
+
+
 void vectorFault(void)
 {
     Mode = OffMode;
@@ -103,12 +110,14 @@ void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t
     UdcFiltered = Filter(sdfmUdc, &UdcFilter);
     if(UdcFiltered < 0) UdcFiltered = 0;
     if(VoltProcImit) UdcVolt = VoltProcImit;
-    else UdcVolt = (float)UdcFiltered*VdcFactor/32768;
+    else UdcVolt = (float)UdcFiltered*VdcFactor/BIT_MAX;
 
 
     Step = Step + Nstep;
     CurrLoop.piId.Ref = 0;
 
+    rele_run(UdcFiltered);
+
     if(Mode)     {XintRegs.XINT2CR.bit.ENABLE = 0; temperature_deInit();}
 
     switch(Mode)