diff --git a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
index 9909060..c2dd31b 100644
--- a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
+++ b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
@@ -63,10 +63,12 @@ void EthEcatPdoFMMU::wait_op() {
 void EthEcatPdoFMMU::process() {
     std::array<std::array<uint8_t, 55>, 2> process_data;
 
+    process_data[0].fill(0x00);
+    process_data[1].fill(0x00);
+
     wait_op();
 
-    while(1)
-    {
+    while(1) {
         read(process_data[0], process_data[1]);
 /*
         for(uint8_t& byte : process_data[0]) {
diff --git a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
index 460768e..7033cae 100644
--- a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
+++ b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
@@ -39,6 +39,34 @@ private:
     ecat_buffer::EcatBufferSlave& buffer_slave_;
 };
 
+// Функтор для работы с датаграммами в custom_tuple
+struct DatagramFunctor {
+    datagram::EcatTelegram& telegram;
+    size_t number_of_slaves;
+
+    // Первый/последний вызов при forward/reverse обходе custom_tuple
+    template<typename DatagramT>
+    void operator()(DatagramT& datagram) {
+        do {
+            telegram.transfer(datagram);
+        } while(datagram.get_all_wkc() < number_of_slaves);
+    }
+
+    // Последующие вызовы в custom_tuple
+    template<typename DatagramT, typename DatagramPreviousT>
+    void operator()(DatagramT& datagram, DatagramPreviousT& previous) {
+        previous + datagram;
+    }
+
+    // Последний/первый вызов при forward/reverse обходе custom_tuple.
+    // Второй аргумент нужен для корректной перегрузки, чтобы отличить от первой сигнатуры
+    template<typename DatagramPreviousT>
+    void operator()(DatagramPreviousT& previous, uint32_t) { }
+
+    // Пустой custom_tuple
+    void operator()() { }
+};
+
 class EthEcatPdoFMMU {
 public:
     EthEcatPdoFMMU(ecat_buffer::EthEcatBuffer& ecat_mailbox): ecat_buffer_{ecat_mailbox} { }
@@ -46,28 +74,48 @@ public:
     void init();
     void process();
 
-    template<typename DataType, typename... DataTypes>
-    void write(DataType& head, DataTypes&... tail) {
-        if(sizeof...(tail) + 1 > pdo_fmmu_slaves_.size()) {
+    template<typename... DataTypes>
+    void write(DataTypes&... data) {
+        if(sizeof...(data) > pdo_fmmu_slaves_.size()) {
             return;
         }
 
-        size_t slave_index = 0;
-        auto datagram = pdo_fmmu_slaves_[slave_index].make_datagram_write(head);
-        // Сборка и отправка телеграммы с "головы"
-        write_recursion(slave_index + 1, datagram, datagram, tail...);
+        size_t i = 0;
+        custom_tuple<datagram::EcatDatagram<command::LWR, DataTypes>...> datagram_tuple{pdo_fmmu_slaves_[i++].make_datagram_write(data)...};
+        DatagramFunctor functor{ecat_buffer_.get_ecat().get_telegram(), pdo_fmmu_slaves_.size()};
+
+        datagram_tuple.for_each_reverse(functor);
     }
 
-    template<typename DataType, typename... DataTypes>
-    void read(DataType& head, DataTypes&... tail) {
-        if(sizeof...(tail) + 1 > pdo_fmmu_slaves_.size()) {
+    template<typename... DataTypes>
+    void read(DataTypes&... data) {
+        if(sizeof...(data) > pdo_fmmu_slaves_.size()) {
             return;
         }
 
-        size_t slave_index = 0;
-        auto datagram = pdo_fmmu_slaves_[slave_index].make_datagram_read(head);
-        // Сборка и отправка телеграммы с "головы"
-        read_recursion(slave_index + 1, datagram, datagram, tail...);
+        size_t i = 0;
+        custom_tuple<datagram::EcatDatagram<command::LRD, DataTypes>...> datagram_tuple{pdo_fmmu_slaves_[i++].make_datagram_read(data)...};
+        DatagramFunctor functor{ecat_buffer_.get_ecat().get_telegram(), pdo_fmmu_slaves_.size()};
+
+        datagram_tuple.for_each_reverse(functor);
+    }
+
+    template<typename... DataTypes>
+    void read_write(DataTypes&... data) {
+        if(sizeof...(data) > pdo_fmmu_slaves_.size()) {
+            return;
+        }
+
+        size_t i = 0;
+        size_t j = 0;
+
+        // custom_tuple с датаграммами и на чтение и на запись в две строки. 1 строка - тип, 2 - строка имя переменной
+        custom_tuple<datagram::EcatDatagram<command::LRD, DataTypes>... , datagram::EcatDatagram<command::LWR, DataTypes>...>
+        datagram_tuple{pdo_fmmu_slaves_[i++].make_datagram_read(data)... , pdo_fmmu_slaves_[j++].make_datagram_write(data)...};
+
+        DatagramFunctor functor{ecat_buffer_.get_ecat().get_telegram(), pdo_fmmu_slaves_.size()};
+
+        datagram_tuple.for_each_reverse(functor);
     }
 
 private:
@@ -75,45 +123,6 @@ private:
 
     std::vector<EcatPdoFMMUSlave> pdo_fmmu_slaves_;
 
-    template<typename DatagramTypeFirst, typename DatagramTypePrevious, typename... DataTypes>
-    void write_recursion(size_t slave_index, DatagramTypeFirst& first, DatagramTypePrevious& previous, DataTypes&... data);
-
-    template<typename DatagramTypeFirst, typename DatagramTypePrevious, typename DataType, typename... DataTypes>
-    void write_recursion(size_t slave_index, DatagramTypeFirst& first, DatagramTypePrevious& previous, DataType& head, DataTypes&... tail) {
-        auto datagram = pdo_fmmu_slaves_[slave_index].make_datagram_write(head);
-
-        write_recursion(slave_index + 1, first, previous + datagram, tail...);
-    }
-
-    template<typename DatagramTypeFirst, typename DatagramTypePrevious>
-    void write_recursion(size_t slave_index, DatagramTypeFirst& first, DatagramTypePrevious& previous) {
-        datagram::EcatTelegram& telegram = ecat_buffer_.get_ecat().get_telegram();
-
-        do {
-            telegram.transfer(first);
-        } while(first.get_all_wkc() < slave_index);
-    }
-
-
-    template<typename DatagramTypeFirst, typename DatagramTypePrevious, typename... DataTypes>
-    void read_recursion(size_t slave_index, DatagramTypeFirst& first, DatagramTypePrevious& previous, DataTypes&... data);
-
-    template<typename DatagramTypeFirst, typename DatagramTypePrevious, typename DataType, typename... DataTypes>
-    void read_recursion(size_t slave_index, DatagramTypeFirst& first, DatagramTypePrevious& previous, DataType& head, DataTypes&... tail) {
-        auto datagram = pdo_fmmu_slaves_[slave_index].make_datagram_read(head);
-
-        read_recursion(slave_index + 1, first, previous + datagram, tail...);
-    }
-
-    template<typename DatagramTypeFirst, typename DatagramTypePrevious>
-    void read_recursion(size_t slave_index, DatagramTypeFirst& first, DatagramTypePrevious& previous) {
-        datagram::EcatTelegram& telegram = ecat_buffer_.get_ecat().get_telegram();
-
-        do {
-            telegram.transfer(first);
-        } while(first.get_all_wkc() < slave_index);
-    }
-
     void wait_op();
 };
 
diff --git a/components/free_rtos/ethernet_industry/eth_ecat_custom_tuple.hpp b/components/free_rtos/ethernet_industry/eth_ecat_custom_tuple.hpp
index c746c17..a44c906 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat_custom_tuple.hpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat_custom_tuple.hpp
@@ -47,6 +47,30 @@ struct custom_tuple<HeadT, TailT...> : custom_tuple<TailT...> {
 
         return TBase::unpack(raw + sizeof(THeadDeref));
     }
+
+    template<typename FunctorT>
+    void for_each(FunctorT& functor) {
+        functor(head_);
+        TBase::template for_each<FunctorT>(functor, head_);
+    }
+
+    template<typename FunctorT, typename PreviousT>
+    void for_each(FunctorT& functor, PreviousT& previous) {
+        functor(head_, previous);
+        TBase::template for_each<FunctorT>(functor, head_);
+    }
+
+    template<typename FunctorT>
+    void for_each_reverse(FunctorT& functor) {
+        TBase::template for_each_reverse<FunctorT>(functor, head_);
+        functor(head_);
+    }
+
+    template<typename FunctorT, typename PreviousT>
+    void for_each_reverse(FunctorT& functor, PreviousT& previous) {
+        TBase::template for_each_reverse<FunctorT>(functor, head_);
+        functor(head_, previous);
+    }
 };
 
 // Специализация завершения рекурсии
@@ -61,6 +85,28 @@ struct custom_tuple<> {
     uint8_t* unpack(uint8_t *raw) {
         return raw;
     }
+
+    // Вызывается для пустого custom_tuple. Не особо полезно, но пускай будет
+    template<typename FunctorT>
+    void for_each_forward(FunctorT& functor) {
+        functor();
+    }
+
+    template<typename FunctorT, typename PreviousT>
+    void for_each_forward(FunctorT& functor, PreviousT& previous) {
+        functor(previous, 0);
+    }
+
+    // Вызывается для пустого custom_tuple. Не особо полезно, но пускай будет
+    template<typename FunctorT>
+    void for_each_reverse(FunctorT& functor) {
+        functor();
+    }
+
+    template<typename FunctorT, typename PreviousT>
+    void for_each_reverse(FunctorT& functor, PreviousT& previous) {
+        functor(previous, 0);
+    }
 };
 
 template<size_t index, typename TupleT>