diff --git a/Codesys/ArfBot.project b/Codesys/ArfBot.project
index 1a63b98..ce7dc95 100644
Binary files a/Codesys/ArfBot.project and b/Codesys/ArfBot.project differ
diff --git a/Codesys/ArfBot.xml b/Codesys/ArfBot.xml
index ff776f2..36f154b 100644
--- a/Codesys/ArfBot.xml
+++ b/Codesys/ArfBot.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <project xmlns="http://www.plcopen.org/xml/tc6_0200">
-  <fileHeader companyName="" productName="CODESYS" productVersion="CODESYS V3.5 SP22 Patch 3" creationDateTime="2026-09-18T21:38:01.8745165" />
-  <contentHeader name="ArfBotOS" version="1.0.0" modificationDateTime="2026-09-18T21:38:01.7004818" organization="Thomas Labs" author="Dale Thomas">
+  <fileHeader companyName="" productName="CODESYS" productVersion="CODESYS V3.5 SP22 Patch 3" creationDateTime="2026-09-19T18:53:47.7480021" />
+  <contentHeader name="ArfBotOS" version="1.0.0" modificationDateTime="2026-09-19T18:53:47.5561919" organization="Thomas Labs" author="Dale Thomas">
     <Comment>https://github.com/dalethomas81/ArfBotOS</Comment>
     <coordinateInfo>
       <fbd>
@@ -1733,7 +1733,7 @@ END_VAR</xhtml>
                 <string length="80" />
               </type>
               <initialValue>
-                <simpleValue value="'v2.2026.38.0-RoiEditor'" />
+                <simpleValue value="'v2.2026.38.1-Cnc'" />
               </initialValue>
               <documentation>
                 <xhtml xmlns="http://www.w3.org/1999/xhtml"> git describe --tags --always --dirty (does not get the latest tag from main)
@@ -1762,7 +1762,7 @@ END_VAR</xhtml>
 VAR_GLOBAL
     // git describe --tags --always --dirty (does not get the latest tag from main)
     // git describe --tags --always main (gets the latest tag from main but the commit is wrong because its from the branch we work from - dev)
-    sPlcVersion : STRING(80) := 'v2.2026.38.0-RoiEditor';
+    sPlcVersion : STRING(80) := 'v2.2026.38.1-Cnc';
     sRelease : STRING(80);
     sVersionLine : STRING(160);
 END_VAR</xhtml>
@@ -12889,10 +12889,12 @@ VAR_OUTPUT
 END_VAR
 VAR
 	_Filename: STRING := '_cnc/CNC_FromFile.cnc';
-	_SMC_NCInterpreter: SMC_NCInterpreter;
 	_SMC_ReadNCFile2: SMC_ReadNCFile2;
+	_SMC_NCInterpreter: SMC_NCInterpreter;
+    _SMC_SmoothPath: SMC_SmoothPath;
 	_SMC_CheckVelocities: SMC_CheckVelocities;
-	_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Ipo: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Smooth: ARRAY[0..50] OF SMC_GEOINFO;
 	_StartPos: SMC_PosInfo;
 	_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
 	_ExecuteRtrig: R_TRIG;
@@ -12958,10 +12960,12 @@ VAR_OUTPUT
 END_VAR
 VAR
 	_Filename: STRING := '_cnc/CNC_FromFile.cnc';
-	_SMC_NCInterpreter: SMC_NCInterpreter;
 	_SMC_ReadNCFile2: SMC_ReadNCFile2;
+	_SMC_NCInterpreter: SMC_NCInterpreter;
+    _SMC_SmoothPath: SMC_SmoothPath;
 	_SMC_CheckVelocities: SMC_CheckVelocities;
-	_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Ipo: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Smooth: ARRAY[0..50] OF SMC_GEOINFO;
 	_StartPos: SMC_PosInfo;
 	_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
 	_ExecuteRtrig: R_TRIG;
@@ -12988,14 +12992,19 @@ END_VAR
                         <simpleValue value="'_cnc/CNC_FromFile.cnc'" />
                       </initialValue>
                     </variable>
+                    <variable name="_SMC_ReadNCFile2">
+                      <type>
+                        <derived name="SMC_ReadNCFile2" />
+                      </type>
+                    </variable>
                     <variable name="_SMC_NCInterpreter">
                       <type>
                         <derived name="SMC_NCInterpreter" />
                       </type>
                     </variable>
-                    <variable name="_SMC_ReadNCFile2">
+                    <variable name="_SMC_SmoothPath">
                       <type>
-                        <derived name="SMC_ReadNCFile2" />
+                        <derived name="SMC_SmoothPath" />
                       </type>
                     </variable>
                     <variable name="_SMC_CheckVelocities">
@@ -13003,7 +13012,17 @@ END_VAR
                         <derived name="SMC_CheckVelocities" />
                       </type>
                     </variable>
-                    <variable name="_SMC_GEOINFO">
+                    <variable name="_SMC_GEOINFO_Ipo">
+                      <type>
+                        <array>
+                          <dimension lower="0" upper="50" />
+                          <baseType>
+                            <derived name="SMC_GEOINFO" />
+                          </baseType>
+                        </array>
+                      </type>
+                    </variable>
+                    <variable name="_SMC_GEOINFO_Smooth">
                       <type>
                         <array>
                           <dimension lower="0" upper="50" />
@@ -13077,10 +13096,12 @@ VAR_OUTPUT
 END_VAR
 VAR
 	_Filename: STRING := '_cnc/CNC_FromFile.cnc';
-	_SMC_NCInterpreter: SMC_NCInterpreter;
 	_SMC_ReadNCFile2: SMC_ReadNCFile2;
+	_SMC_NCInterpreter: SMC_NCInterpreter;
+    _SMC_SmoothPath: SMC_SmoothPath;
 	_SMC_CheckVelocities: SMC_CheckVelocities;
-	_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Ipo: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Smooth: ARRAY[0..50] OF SMC_GEOINFO;
 	_StartPos: SMC_PosInfo;
 	_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
 	_ExecuteRtrig: R_TRIG;
@@ -13128,10 +13149,12 @@ VAR_OUTPUT
 END_VAR
 VAR
 	_Filename: STRING := '_cnc/CNC_FromFile.cnc';
-	_SMC_NCInterpreter: SMC_NCInterpreter;
 	_SMC_ReadNCFile2: SMC_ReadNCFile2;
+	_SMC_NCInterpreter: SMC_NCInterpreter;
+    _SMC_SmoothPath: SMC_SmoothPath;
 	_SMC_CheckVelocities: SMC_CheckVelocities;
-	_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Ipo: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Smooth: ARRAY[0..50] OF SMC_GEOINFO;
 	_StartPos: SMC_PosInfo;
 	_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
 	_ExecuteRtrig: R_TRIG;
@@ -13217,10 +13240,13 @@ _SMC_NCInterpreter(
 	bAppend:= , 
 	piStartPosition:= _StartPos, 
 	vStartToolLength:= , 
-	nSizeOutQueue:= SIZEOF(_SMC_GEOINFO), 
-	pbyBufferOutQueue:= ADR(_SMC_GEOINFO), 
+	nSizeOutQueue:= SIZEOF(_SMC_GEOINFO_Ipo), 
+	pbyBufferOutQueue:= ADR(_SMC_GEOINFO_Ipo), 
 	bEnableSyntaxChecks:= , 
-	eOriConv:= _OriConvention,
+	eOriConv:= _OriConvention,    
+    // A/B/C as independent axes so G91 A-45 is signed and can pass ±180.
+    // Tracker/trafo stay ZYX; do not set _OriConvention to ADDAXES (that feeds J4/J5/J6 as Euler and faults the group).
+    //eOriConv:= SMC_ORI_CONVENTION.ADDAXES,
 	dCircleTolerance:= , 
 	pInterpreterStack:= , 
 	nInterpreterStackSizeBytes:= , 
@@ -13235,11 +13261,36 @@ _SMC_NCInterpreter(
 	GCodeText=&gt; , 
 	CallstackInfo=&gt; , 
 	aActivePrograms=&gt; );
+    
+_SMC_SmoothPath(
+	bExecute:= _SMC_ReadNCFile2.bExecute, 
+	bAbort:= _Sequence = 999, 
+	bAppend:= , 
+	poqDataIn:= _SMC_NCInterpreter.poqDataOut, 
+	dEdgeDistance:= , 
+	dAngleTol:= , 
+	nSizeOutQueue:= SIZEOF(_SMC_GEOINFO_Smooth), 
+	pbyBufferOutQueue:= ADR(_SMC_GEOINFO_Smooth), 
+	eMode:= , 
+	bSymmetricalDistances:= , 
+	bImprovedSymmetricCuts:= , 
+	eAddAxMode:= , 
+	dMinimumCurvatureRadius:= , 
+	bCheckCurvature:= , 
+	dRelativeCurvatureTol:= , 
+	bCheckAddAxVelJump:= , 
+	dMaxAddAxVelDifference:= , 
+	bDone=&gt; , 
+	bBusy=&gt; , 
+	bError=&gt; , 
+	wErrorID=&gt; , 
+	poqDataOut=&gt; , 
+	udiStopsDueToCurvatureRadius=&gt; );
 
 _SMC_CheckVelocities(
 	bExecute:= _SMC_NCInterpreter.bExecute, 
 	bAbort:= _Sequence = 999, 
-	poqDataIn:= _SMC_NCInterpreter.poqDataOut, 
+	poqDataIn:= _SMC_SmoothPath.poqDataOut, 
 	dAngleTol:= , 
 	bCheckAddAxVelJump:= , 
 	dMaxAddAxVelDifference:= , 
@@ -13251,6 +13302,7 @@ _SMC_CheckVelocities(
 _ErrorRtrig();
 _ErrorRtrig.CLK:= _SMC_ReadNCFile2.bError
 				OR _SMC_NCInterpreter.bError
+				OR _SMC_SmoothPath.bError
 				OR _SMC_CheckVelocities.bError;
 IF _ErrorRtrig.Q THEN
 	Error := TRUE;
@@ -13266,6 +13318,12 @@ IF _ErrorRtrig.Q THEN
                                 CONCAT(' ', SMC_ErrorString(_SMC_NCInterpreter.wErrorID,
                                             SMC_Language_Type.english)))) ;
 	END_IF
+	IF _SMC_SmoothPath.bError THEN
+		ErrorDescription := CONCAT(' SmoothPath Error: ',
+                                CONCAT(TO_STRING(_SMC_SmoothPath.wErrorID),
+                                CONCAT(' ', SMC_ErrorString(_SMC_SmoothPath.wErrorID,
+                                            SMC_Language_Type.english)))) ;
+	END_IF
 	IF _SMC_CheckVelocities.bError THEN
 		ErrorDescription := CONCAT(' CheckVelocities Error: ',
                                 CONCAT(TO_STRING(_SMC_CheckVelocities.wErrorID),
@@ -13445,10 +13503,12 @@ VAR_OUTPUT
 END_VAR
 VAR
 	_Filename: STRING := '_cnc/CNC_FromFile.cnc';
-	_SMC_NCInterpreter: SMC_NCInterpreter;
 	_SMC_ReadNCFile2: SMC_ReadNCFile2;
+	_SMC_NCInterpreter: SMC_NCInterpreter;
+    _SMC_SmoothPath: SMC_SmoothPath;
 	_SMC_CheckVelocities: SMC_CheckVelocities;
-	_SMC_GEOINFO: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Ipo: ARRAY[0..50] OF SMC_GEOINFO;
+	_SMC_GEOINFO_Smooth: ARRAY[0..50] OF SMC_GEOINFO;
 	_StartPos: SMC_PosInfo;
 	_OriConvention: SMC_ORI_CONVENTION := SMC_ORI_CONVENTION.ZYZ;
 	_ExecuteRtrig: R_TRIG;
@@ -22363,7 +22423,7 @@ END_VAR
                         <LREAL />
                       </type>
                       <initialValue>
-                        <simpleValue value="500.0" />
+                        <simpleValue value="50.0" />
                       </initialValue>
                     </variable>
                     <variable name="AvoidGaps">
@@ -22371,7 +22431,7 @@ END_VAR
                         <BOOL />
                       </type>
                       <initialValue>
-                        <simpleValue value="TRUE" />
+                        <simpleValue value="FALSE" />
                       </initialValue>
                     </variable>
                     <variable name="GapAccel">
@@ -22379,7 +22439,7 @@ END_VAR
                         <LREAL />
                       </type>
                       <initialValue>
-                        <simpleValue value="10000.0" />
+                        <simpleValue value="100.0" />
                       </initialValue>
                     </variable>
                     <variable name="GapJerk">
@@ -22387,7 +22447,7 @@ END_VAR
                         <LREAL />
                       </type>
                       <initialValue>
-                        <simpleValue value="1E+16" />
+                        <simpleValue value="1000.0" />
                       </initialValue>
                     </variable>
                     <variable name="Command">
@@ -22403,10 +22463,10 @@ END_VAR
                         <InterfaceAsPlainText>
                           <xhtml xmlns="http://www.w3.org/1999/xhtml">FUNCTION_BLOCK FB_CncCmdProcessor EXTENDS FB_Module
 VAR_INPUT
-	GapVelocity: LREAL := 500.0;
-	AvoidGaps: BOOL := TRUE;
-	GapAccel: LREAL := 10000.0;
-    GapJerk: LREAL := 10000000000000000.0;
+	GapVelocity: LREAL := 50.0;
+	AvoidGaps: BOOL := FALSE;
+	GapAccel: LREAL := 100.0;
+    GapJerk: LREAL := 1000.0;
 	Command: STRING(GVL.COMMAND_LEN):='';
 END_VAR
 VAR_IN_OUT
@@ -22446,6 +22506,9 @@ VAR CONSTANT
     MCODE_OUTPUT_CLR: INT:=400;
     MCODE_OUTPUT_CLR_START: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_BEG;
     MCODE_OUTPUT_CLR_END: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_END;
+    MCODE_FLAG_WAIT: INT:=500;
+    MCODE_FLAG_WAIT_START: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_BEG;
+    MCODE_FLAG_WAIT_END: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_END;
 END_VAR
 VAR CONSTANT
 	_STEP_DONE: 		INT := 1000;
@@ -22517,10 +22580,10 @@ END_VAR
                         <InterfaceAsPlainText>
                           <xhtml xmlns="http://www.w3.org/1999/xhtml">FUNCTION_BLOCK FB_CncCmdProcessor EXTENDS FB_Module
 VAR_INPUT
-	GapVelocity: LREAL := 500.0;
-	AvoidGaps: BOOL := TRUE;
-	GapAccel: LREAL := 10000.0;
-    GapJerk: LREAL := 10000000000000000.0;
+	GapVelocity: LREAL := 50.0;
+	AvoidGaps: BOOL := FALSE;
+	GapAccel: LREAL := 100.0;
+    GapJerk: LREAL := 1000.0;
 	Command: STRING(GVL.COMMAND_LEN):='';
 END_VAR
 VAR_IN_OUT
@@ -22560,6 +22623,9 @@ VAR CONSTANT
     MCODE_OUTPUT_CLR: INT:=400;
     MCODE_OUTPUT_CLR_START: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_BEG;
     MCODE_OUTPUT_CLR_END: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_END;
+    MCODE_FLAG_WAIT: INT:=500;
+    MCODE_FLAG_WAIT_START: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_BEG;
+    MCODE_FLAG_WAIT_END: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_END;
 END_VAR
 VAR CONSTANT
 	_STEP_DONE: 		INT := 1000;
@@ -22706,10 +22772,10 @@ END_VAR
                         <InterfaceAsPlainText>
                           <xhtml xmlns="http://www.w3.org/1999/xhtml">FUNCTION_BLOCK FB_CncCmdProcessor EXTENDS FB_Module
 VAR_INPUT
-	GapVelocity: LREAL := 500.0;
-	AvoidGaps: BOOL := TRUE;
-	GapAccel: LREAL := 10000.0;
-    GapJerk: LREAL := 10000000000000000.0;
+	GapVelocity: LREAL := 50.0;
+	AvoidGaps: BOOL := FALSE;
+	GapAccel: LREAL := 100.0;
+    GapJerk: LREAL := 1000.0;
 	Command: STRING(GVL.COMMAND_LEN):='';
 END_VAR
 VAR_IN_OUT
@@ -22749,6 +22815,9 @@ VAR CONSTANT
     MCODE_OUTPUT_CLR: INT:=400;
     MCODE_OUTPUT_CLR_START: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_BEG;
     MCODE_OUTPUT_CLR_END: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_END;
+    MCODE_FLAG_WAIT: INT:=500;
+    MCODE_FLAG_WAIT_START: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_BEG;
+    MCODE_FLAG_WAIT_END: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_END;
 END_VAR
 VAR CONSTANT
 	_STEP_DONE: 		INT := 1000;
@@ -22855,6 +22924,30 @@ END_VAR
                         <simpleValue value="(MCODE_OUTPUT_CLR + GVL.DIG_OUT_ARR_END)" />
                       </initialValue>
                     </variable>
+                    <variable name="MCODE_FLAG_WAIT">
+                      <type>
+                        <INT />
+                      </type>
+                      <initialValue>
+                        <simpleValue value="500" />
+                      </initialValue>
+                    </variable>
+                    <variable name="MCODE_FLAG_WAIT_START">
+                      <type>
+                        <INT />
+                      </type>
+                      <initialValue>
+                        <simpleValue value="(MCODE_FLAG_WAIT + GVL.FLG_ARR_BEG)" />
+                      </initialValue>
+                    </variable>
+                    <variable name="MCODE_FLAG_WAIT_END">
+                      <type>
+                        <INT />
+                      </type>
+                      <initialValue>
+                        <simpleValue value="(MCODE_FLAG_WAIT + GVL.FLG_ARR_END)" />
+                      </initialValue>
+                    </variable>
                     <variable name="_STEP_DONE">
                       <type>
                         <INT />
@@ -22900,10 +22993,10 @@ END_VAR
                         <InterfaceAsPlainText>
                           <xhtml xmlns="http://www.w3.org/1999/xhtml">FUNCTION_BLOCK FB_CncCmdProcessor EXTENDS FB_Module
 VAR_INPUT
-	GapVelocity: LREAL := 500.0;
-	AvoidGaps: BOOL := TRUE;
-	GapAccel: LREAL := 10000.0;
-    GapJerk: LREAL := 10000000000000000.0;
+	GapVelocity: LREAL := 50.0;
+	AvoidGaps: BOOL := FALSE;
+	GapAccel: LREAL := 100.0;
+    GapJerk: LREAL := 1000.0;
 	Command: STRING(GVL.COMMAND_LEN):='';
 END_VAR
 VAR_IN_OUT
@@ -22943,6 +23036,9 @@ VAR CONSTANT
     MCODE_OUTPUT_CLR: INT:=400;
     MCODE_OUTPUT_CLR_START: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_BEG;
     MCODE_OUTPUT_CLR_END: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_END;
+    MCODE_FLAG_WAIT: INT:=500;
+    MCODE_FLAG_WAIT_START: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_BEG;
+    MCODE_FLAG_WAIT_END: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_END;
 END_VAR
 VAR CONSTANT
 	_STEP_DONE: 		INT := 1000;
@@ -23034,10 +23130,10 @@ END_VAR
                         <InterfaceAsPlainText>
                           <xhtml xmlns="http://www.w3.org/1999/xhtml">FUNCTION_BLOCK FB_CncCmdProcessor EXTENDS FB_Module
 VAR_INPUT
-	GapVelocity: LREAL := 500.0;
-	AvoidGaps: BOOL := TRUE;
-	GapAccel: LREAL := 10000.0;
-    GapJerk: LREAL := 10000000000000000.0;
+	GapVelocity: LREAL := 50.0;
+	AvoidGaps: BOOL := FALSE;
+	GapAccel: LREAL := 100.0;
+    GapJerk: LREAL := 1000.0;
 	Command: STRING(GVL.COMMAND_LEN):='';
 END_VAR
 VAR_IN_OUT
@@ -23077,6 +23173,9 @@ VAR CONSTANT
     MCODE_OUTPUT_CLR: INT:=400;
     MCODE_OUTPUT_CLR_START: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_BEG;
     MCODE_OUTPUT_CLR_END: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_END;
+    MCODE_FLAG_WAIT: INT:=500;
+    MCODE_FLAG_WAIT_START: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_BEG;
+    MCODE_FLAG_WAIT_END: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_END;
 END_VAR
 VAR CONSTANT
 	_STEP_DONE: 		INT := 1000;
@@ -23253,7 +23352,6 @@ CASE WORD_TO_INT(_SMC_Interpolator.wM) OF
     
     // M200 - M215 wait on inputs 0 - 15    
 	MCODE_INPUT_WAIT_START..MCODE_INPUT_WAIT_END:
-        // TODO should we put a timeout or bypass here?
         IF CmdIo.Input[WORD_TO_INT(_SMC_Interpolator.wM) - MCODE_INPUT_WAIT] THEN
             _SMC_Interpolator.bAcknM := TRUE;
         END_IF
@@ -23267,6 +23365,13 @@ CASE WORD_TO_INT(_SMC_Interpolator.wM) OF
 	MCODE_OUTPUT_CLR_START..MCODE_OUTPUT_CLR_END:
         CmdIo.Output[WORD_TO_INT(_SMC_Interpolator.wM) - MCODE_OUTPUT_CLR] := FALSE;
         _SMC_Interpolator.bAcknM := TRUE;
+    
+    // M500 - M515 wait on flags 0 - 49    
+	MCODE_FLAG_WAIT_START..MCODE_FLAG_WAIT_END:
+        IF SUPER^.Flags[WORD_TO_INT(_SMC_Interpolator.wM) - MCODE_FLAG_WAIT].Value THEN
+            SUPER^.Flags[WORD_TO_INT(_SMC_Interpolator.wM) - MCODE_FLAG_WAIT].Value := FALSE;
+            _SMC_Interpolator.bAcknM := TRUE;
+        END_IF
         
 END_CASE
 
@@ -23288,7 +23393,7 @@ _SMC_Trafo_ArticulatedRobot_6DOF(
 	dQ2_old:= J3.fActPosition, 
 	dQ3_old:= J4.fActPosition, 
 	dQ4_old:= J5.fActPosition, 
-	dQ5_old:= J6.fActPosition, 
+	dQ5_old:= -J6.fActPosition, 
 	armState:= _TrackPosition.Arm, 
 	elbowState:= _TrackPosition.Elbow, 
 	handState:= _TrackPosition.Hand, 
@@ -23386,7 +23491,7 @@ _SMC_ControlAxisByPos_J6(
 	iStatus:= _SMC_Interpolator.iStatus, 
 	bEnable:= _SMC_Interpolator.bWorking, 
 	bAvoidGaps:= AvoidGaps, 
-	fSetPosition:= _SMC_Trafo_ArticulatedRobot_6DOF.dQ5,
+	fSetPosition:= -_SMC_Trafo_ArticulatedRobot_6DOF.dQ5,
 	fGapVelocity:= GapVelocity, 
 	fGapAcceleration:= GapAccel, 
 	fGapDeceleration:= GapAccel, 
@@ -23699,10 +23804,10 @@ _SMC_Interpolator.bExecute := FALSE;</xhtml>
                     <InterfaceAsPlainText>
                       <xhtml xmlns="http://www.w3.org/1999/xhtml">FUNCTION_BLOCK FB_CncCmdProcessor EXTENDS FB_Module
 VAR_INPUT
-	GapVelocity: LREAL := 500.0;
-	AvoidGaps: BOOL := TRUE;
-	GapAccel: LREAL := 10000.0;
-    GapJerk: LREAL := 10000000000000000.0;
+	GapVelocity: LREAL := 50.0;
+	AvoidGaps: BOOL := FALSE;
+	GapAccel: LREAL := 100.0;
+    GapJerk: LREAL := 1000.0;
 	Command: STRING(GVL.COMMAND_LEN):='';
 END_VAR
 VAR_IN_OUT
@@ -23742,6 +23847,9 @@ VAR CONSTANT
     MCODE_OUTPUT_CLR: INT:=400;
     MCODE_OUTPUT_CLR_START: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_BEG;
     MCODE_OUTPUT_CLR_END: INT:=MCODE_OUTPUT_CLR+GVL.DIG_OUT_ARR_END;
+    MCODE_FLAG_WAIT: INT:=500;
+    MCODE_FLAG_WAIT_START: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_BEG;
+    MCODE_FLAG_WAIT_END: INT:=MCODE_FLAG_WAIT+GVL.FLG_ARR_END;
 END_VAR
 VAR CONSTANT
 	_STEP_DONE: 		INT := 1000;
diff --git a/Codesys/_cnc/CNC_Cone.cnc b/Codesys/_cnc/CNC_Cone.cnc
index 95be012..0f5f3ef 100644
--- a/Codesys/_cnc/CNC_Cone.cnc
+++ b/Codesys/_cnc/CNC_Cone.cnc
@@ -1,26 +1,22 @@
-( G91 incremental | G17 xy | G02 cw with XY end and R )
-( Trafo ABC = yaw / pitch / roll. Look-at the apex at every corner. )
-( Jog TCP onto the apex, tool Z along the cone axis, then run. )
-( H = 40, R = 23.094, cone half-angle = 30 )
-( )
-( End of each quarter, ABC that point tool Z at the apex: )
-(   start / N060: A0   B30  C0    lean in +X, pitch )
-(   N070 +Y:      A0   B0   C30   lean in -Y, roll )
-(   N080 +X:      A0   B-30 C0    lean in -X, pitch the other way )
-(   N090 -Y:      A0   B0   C-30  lean in +Y, roll the other way )
-(   N100 -X:      A0   B30  C0    back to start )
-( G91 values below are the deltas that reach those end angles. )
 
-N000 G91
-N020 G17
+( G17 xy plane | G18 zx plane | G16 ijk normal ) 
+( G91 incremental | G99 IJK relative to current TCP ) 
+( G55 rel DCS | G56 current pose = DCS origin | G53 reset DCS ) 
+( G51 start angle smoothing | G50 end ) 
+( A yaw, B pitch, C roll. Trafo is yaw/pitch/roll. ) 
+( Jog TCP onto the apex, tool Z along the cone axis, then run. ) 
 
-N050 G01 X0 Y0 Z0 A0 B30 C0 F30
-N060 G01 X-23.094 Y0 Z-40 A0 B0 C0 F30
+N000 G91 ( incremental, like CNC_FromFile ) 
+N010 G17 ( xy plane - circle is perpendicular to the cone axis ) 
 
-N070 G02 X23.094 Y23.094 R23.094 A0 B-30 C30 F30
-N080 G02 X23.094 Y-23.094 R23.094 A0 B-30 C-30 F30
-N090 G02 X-23.094 Y-23.094 R23.094 A0 B30 C-30 F30
-N100 G02 X-23.094 Y23.094 R23.094 A0 B30 C30 F30
+(N040 M510) ( wait for flag 10 )
+N050 G01 X-60 Y0 Z-80 A0 B10 C0 E300 F100
 
-N110 G01 X23.094 Y0 Z40 A0 B-30 C0 F30
-N130 G53
+N070 G02 X60 Y60 R60 A0 B-10 C-10
+N070 G02 X60 Y-60 R60 A0 B-10 C10
+N070 G03 X-60 Y60 R60 A0 B10 C-10
+N070 G03 X-60 Y-60 R60 A0 B10 C10
+N070 G03 X60 Y-60 R60 A0 B-10 C10
+N070 G03 X60 Y60 R60 A0 B-10 C-10
+
+N140 G53 ( reset decoder coordinate system )
\ No newline at end of file
diff --git a/Web/README.md b/Web/README.md
index a6235e2..a923f76 100644
--- a/Web/README.md
+++ b/Web/README.md
@@ -4,15 +4,15 @@ One Flask app on port 5000 that hosts the operator pages:
 
 | URL | Page |
 | --- | --- |
-| `http://<pi>:5000/vision` | Vision template capture and locate ROI |
-| `http://<pi>:5000/vision/files` | Saved templates |
+| `http://<pi>:5000/vision` | Vision: Capture, ROI, and Templates |
+| `http://<pi>:5000/vision/templates` | Saved templates (old `/vision/files` redirects here) |
 | `http://<pi>:5000/animator` | 6-axis robot animator (joints, TCP / MCS / PCS, Euler convention) |
 | `http://<pi>:5000/bluetooth` | Bluetooth pairing (DualSense and other adapters) |
 | `http://<pi>:5000/vision/output_sized?width=365&height=255` | HMI vision result image |
 
 `/` redirects to `/vision` when vision is enabled, `/bluetooth` on a `--plc-only` install, or `/animator` if that is the only enabled page. Old `/template`, `/files/`, and `/output_sized` URLs redirect to the new paths.
 
-The CODESYS HMI loads `/vision/output_sized`. Template files still go to `/var/opt/codesys/PlcLogic/Application/Vision/Templates`. Locate search ROI is `.../Vision/roi.yaml`, set from the Vision page ROI tab (`GET`/`POST /vision/roi`). The latest processed image is still `/var/opt/codesys/PlcLogic/visu/outputimage.jpg`.
+The CODESYS HMI loads `/vision/output_sized`. Template files still go to `/var/opt/codesys/PlcLogic/Application/Vision/Templates`. Names cannot contain spaces; the capture size is appended (`screwdriver_640x400.jpg`) so a 2000×2000 snip is not used on a 640×400 Locate. Locate search ROI is `.../Vision/roi.yaml`, set from the Vision page ROI tab (`GET`/`POST /vision/roi`). The latest processed image is still `/var/opt/codesys/PlcLogic/visu/outputimage.jpg`.
 
 ## Capture size and HQ camera FOV
 
diff --git a/Web/app/static/css/arfbot-night.css b/Web/app/static/css/arfbot-night.css
index a2f023d..d69b4bb 100644
--- a/Web/app/static/css/arfbot-night.css
+++ b/Web/app/static/css/arfbot-night.css
@@ -469,17 +469,30 @@ pre.log {
     overflow: hidden;
     margin: 0 auto 12px;
 }
-.mode-toggle button {
+.mode-toggle button,
+.mode-toggle a {
     border: none;
     border-radius: 0;
     margin: 0;
     background: var(--control);
     color: var(--muted);
+    text-decoration: none;
+    display: inline-flex;
+    align-items: center;
+    justify-content: center;
+    padding: 8px 16px;
+    font: inherit;
+    font-weight: 650;
 }
-.mode-toggle button.active {
+.mode-toggle button.active,
+.mode-toggle a.active {
     background: var(--accent);
     color: var(--text-on-accent);
 }
+.muted {
+    color: var(--muted);
+    font-size: 13px;
+}
 #roi-status {
     color: var(--accent);
     font-weight: 650;
@@ -571,6 +584,13 @@ pre.log {
     max-width: min(100%, 640px);
     height: auto;
 }
+#template-preview {
+    width: 100%;
+    margin: 0;
+    color: var(--muted);
+    font-size: 12px;
+    font-weight: 650;
+}
 #canvas {
     cursor: crosshair;
     border: 1px solid var(--frame-soft);
diff --git a/Web/app/templates/base.html b/Web/app/templates/base.html
index e8c3e8e..2ddd189 100644
--- a/Web/app/templates/base.html
+++ b/Web/app/templates/base.html
@@ -8,7 +8,7 @@
         {% else %}
         <title>ArfBot</title>
         {% endif %}
-        <link rel="stylesheet" href="{{ url_for('static', filename='css/arfbot-night.css') }}?v=fov-notes">
+        <link rel="stylesheet" href="{{ url_for('static', filename='css/arfbot-night.css') }}?v=vision-tabs">
         {% block head %}{% endblock %}
     </head>
     <body class="{% block body_class %}{% endblock %}">
@@ -36,8 +36,7 @@
             {% endif %}
             <nav class="nav">
                 {% if enable_vision %}
-                <a href="{{ url_for('vision.template') }}" {% if request.endpoint in ['vision.template'] %}class="active"{% endif %}>Vision</a>
-                <a href="{{ url_for('vision.files') }}" {% if request.endpoint in ['vision.files'] %}class="active"{% endif %}>Files</a>
+                <a href="{{ url_for('vision.template') }}" {% if request.endpoint in ['vision.template', 'vision.templates', 'vision.files'] %}class="active"{% endif %}>Vision</a>
                 {% endif %}
                 {% if enable_animator %}
                 <a href="{{ url_for('animator.index') }}" {% if request.endpoint and request.endpoint.startswith('animator.') %}class="active"{% endif %}>Animator</a>
diff --git a/Web/app/templates/vision/_tabs.html b/Web/app/templates/vision/_tabs.html
new file mode 100644
index 0000000..4e73eee
--- /dev/null
+++ b/Web/app/templates/vision/_tabs.html
@@ -0,0 +1,12 @@
+{% set vision_tab = vision_tab|default('capture') %}
+<div class="mode-toggle vision-tabs" role="tablist">
+    {% if vision_tab == 'templates' %}
+    <a href="{{ url_for('vision.template') }}">Capture</a>
+    <a href="{{ url_for('vision.template', tab='roi') }}">ROI</a>
+    <a href="{{ url_for('vision.templates') }}" class="active">Templates</a>
+    {% else %}
+    <button type="button" id="mode-capture" class="{% if vision_tab == 'capture' %}active{% endif %}">Capture</button>
+    <button type="button" id="mode-roi" class="{% if vision_tab == 'roi' %}active{% endif %}">ROI</button>
+    <a href="{{ url_for('vision.templates') }}">Templates</a>
+    {% endif %}
+</div>
diff --git a/Web/app/templates/vision/saved_templates.html b/Web/app/templates/vision/saved_templates.html
index 0e67b05..6aa569d 100644
--- a/Web/app/templates/vision/saved_templates.html
+++ b/Web/app/templates/vision/saved_templates.html
@@ -1,9 +1,11 @@
 {% extends "base.html" %}
-{% block page_class %}centered{% endblock %}
+{% block page_class %}centered vision-page{% endblock %}
 
 {% block content %}
-    <h1>Saved Templates</h1>
-    <p>Templates live in /var/opt/codesys/PlcLogic/Application/Vision/Templates</p>
+    <h1 class="vision-title">Templates</h1>
+    {% set vision_tab = 'templates' %}
+    {% include "vision/_tabs.html" %}
+    <p class="muted">Saved crops in /var/opt/codesys/PlcLogic/Application/Vision/Templates. Names include the capture size (name_WIDTHxHEIGHT.jpg).</p>
 
     <script src="//ajax.googleapis.com/ajax/libs/jquery/2.1.3/jquery.min.js"></script>
     <script type="text/javascript">
diff --git a/Web/app/templates/vision/template.html b/Web/app/templates/vision/template.html
index 6fee222..ba07587 100644
--- a/Web/app/templates/vision/template.html
+++ b/Web/app/templates/vision/template.html
@@ -4,10 +4,8 @@
 {% block content %}
     <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</h1>
 
-    <div class="mode-toggle" role="tablist">
-        <button type="button" id="mode-template" class="active">Template</button>
-        <button type="button" id="mode-roi">ROI</button>
-    </div>
+    {% set vision_tab = 'roi' if request.args.get('tab') == 'roi' else 'capture' %}
+    {% include "vision/_tabs.html" %}
 
     <div id="results">
         <p id="current">pointer location: x: , y:</p>
@@ -26,7 +24,7 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
 
     <details class="capture-notes">
         <summary>Capture size vs field of view (IMX477)</summary>
-        <p>libcamera picks a sensor mode from width×height, then center-crops to that aspect. Different sizes do not see the same scene. Use the same size for cal, ROI, templates, and Locate.</p>
+        <p>libcamera picks a sensor mode from width×height, then center-crops to that aspect. Different sizes do not see the same scene. Use the same size for cal, ROI, templates, and Locate. Saved templates are named <code>name_WIDTHxHEIGHT.jpg</code> so a 2000×2000 snip is not used on a 640×400 search.</p>
         <table>
             <thead>
                 <tr><th>Requested</th><th>Sensor mode</th><th>Field of view</th></tr>
@@ -42,16 +40,17 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
     </details>
 
     <div id="imgcontainer">
-        <img class="img" id="cameraimage" src="{{ url_for('vision.captured_image') }}" alt="" />
+        <img class="img" id="cameraimage" alt="Capture an image to begin" />
         <canvas id="canvas" width="640" height="400"></canvas>
     </div>
 
     <div class="controls" id="template-controls">
         <form>
             <label for="template_filename">Template Name:</label>
-            <input type="text" id="template_filename" name="template_filename" />
+            <input type="text" id="template_filename" name="template_filename" autocomplete="off" spellcheck="false" title="No spaces. Capture size is appended automatically." />
             <a href="#" id="save"><button type="button" class="primary">Save Template</button></a>
         </form>
+        <p id="template-preview">Saved as: _640x400.jpg</p>
     </div>
 
     <div class="controls" id="roi-controls" hidden>
@@ -111,6 +110,7 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
             canvas.style.height = dispH + "px";
             drawOverlay();
             updateRoiStatus();
+            updateTemplatePreview();
         }
 
         function roiFromPoints(a, b) {
@@ -193,8 +193,13 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
 
         function setMode(next) {
             mode = next;
-            document.getElementById("mode-template").classList.toggle("active", mode === "template");
-            document.getElementById("mode-roi").classList.toggle("active", mode === "roi");
+            var captureBtn = document.getElementById("mode-capture");
+            var roiBtn = document.getElementById("mode-roi");
+            if (captureBtn) captureBtn.classList.toggle("active", mode === "template");
+            if (roiBtn) roiBtn.classList.toggle("active", mode === "roi");
+            if (window.history && window.history.replaceState) {
+                window.history.replaceState(null, "", mode === "roi" ? "/vision?tab=roi" : "/vision");
+            }
             document.getElementById("template-controls").hidden = mode !== "template";
             document.getElementById("roi-controls").hidden = mode !== "roi";
             document.getElementById("croppedcontainer").hidden = mode !== "template";
@@ -271,17 +276,8 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
 
         $(function() {
             $('a#capture').on('click', function(e) {
-                e.preventDefault()
-                $.getJSON('/captured_image',
-                    function(data) {
-                })
-                .done(function() {
-                })
-                .fail(function() {
-                })
-                .always(function() {
-                    refreshCameraImage();
-                });
+                e.preventDefault();
+                refreshCameraImage();
                 return false;
             });
         });
@@ -292,7 +288,7 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
             });
         });
 
-        document.getElementById("mode-template").addEventListener("click", function() { setMode("template"); });
+        document.getElementById("mode-capture").addEventListener("click", function() { setMode("template"); });
         document.getElementById("mode-roi").addEventListener("click", function() { setMode("roi"); });
         document.getElementById("save-roi").addEventListener("click", saveRoi);
         document.getElementById("reset-roi").addEventListener("click", function() {
@@ -320,10 +316,51 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
             })
             img.setAttribute('src', "{{ url_for('vision.cropped') }}" + "?top_left="+Math.round(startPoint[0])+","+Math.round(startPoint[1])+"&bot_right="+Math.round(endPoint[0])+","+Math.round(endPoint[1])+"&uid=" + new Date().getTime())
         }
+        function templateBaseName() {
+            return (document.getElementById("template_filename").value || "").replace(/\s+/g, "");
+        }
+
+        function templateFileName() {
+            var base = templateBaseName().replace(/\.(jpg|jpeg|png)$/i, "");
+            base = base.replace(/_\d+x\d+$/i, "");
+            return base + "_" + captureWidth + "x" + captureHeight + ".jpg";
+        }
+
+        function updateTemplatePreview() {
+            var el = document.getElementById("template-preview");
+            var base = templateBaseName();
+            if (!base) {
+                el.textContent = "Saved as: name_" + captureWidth + "x" + captureHeight + ".jpg (no spaces)";
+                return;
+            }
+            el.textContent = "Saved as: " + templateFileName();
+        }
+
         function saveCroppedImage() {
-            $.get("{{ url_for('vision.save_template') }}"+"/"+template_filename.value+".jpg",function(data,status) {
-            },'html');
-            alert("Template is saved!");
+            var base = templateBaseName();
+            document.getElementById("template_filename").value = base;
+            if (!base) {
+                alert("Enter a template name with no spaces.");
+                return;
+            }
+            if (/\s/.test(base)) {
+                alert("Template name cannot contain spaces.");
+                return;
+            }
+            var filename = templateFileName();
+            fetch("{{ url_for('vision.save_template') }}/" + encodeURIComponent(filename) +
+                "?width=" + captureWidth + "&height=" + captureHeight)
+            .then(function(res) { return res.json().then(function(data) { return {ok: res.ok, data: data}; }); })
+            .then(function(result) {
+                if (!result.ok) {
+                    alert(result.data.error || "Template save failed");
+                    return;
+                }
+                alert("Template is saved as " + result.data.filename);
+            })
+            .catch(function() {
+                alert("Template save failed");
+            });
         }
         function saveRoi() {
             var roi = pendingRoi || savedRoi;
@@ -366,7 +403,17 @@ <h1 class="vision-title" id="vision-title">Click and Drag to Create a Template</
             h.value = captureHeight;
             fitCaptureFrame();
             loadRoi();
-            setMode("template");
+            var tab = new URLSearchParams(window.location.search).get("tab");
+            setMode(tab === "roi" ? "roi" : "template");
+            var nameInput = document.getElementById("template_filename");
+            nameInput.addEventListener("input", function() {
+                var cleaned = nameInput.value.replace(/\s+/g, "");
+                if (cleaned !== nameInput.value) {
+                    nameInput.value = cleaned;
+                }
+                updateTemplatePreview();
+            });
+            updateTemplatePreview();
         }
 
         document.getElementById("cameraimage").addEventListener("load", function() {
diff --git a/Web/app/vision.py b/Web/app/vision.py
index 74561d5..7dbb9f0 100644
--- a/Web/app/vision.py
+++ b/Web/app/vision.py
@@ -46,6 +46,7 @@ def visu_output_path():
 _ROI_DATA_RE = re.compile(
     r"data:\s*\[\s*([-+0-9.eE]+)\s*,\s*([-+0-9.eE]+)",
 )
+_RES_SUFFIX_RE = re.compile(r"_(\d+)x(\d+)$", re.IGNORECASE)
 
 
 def roi_file_path():
@@ -101,6 +102,35 @@ def write_roi(top_left, bot_right, path=None):
     os.replace(tmp, path)
 
 
+def capture_size():
+    global capArray
+    if capArray is not None:
+        height, width = capArray.shape[:2]
+        return int(width), int(height)
+    return None
+
+
+def template_save_name(raw, width, height):
+    name = (raw or "").strip()
+    lower = name.lower()
+    for ext in (".jpg", ".jpeg", ".png"):
+        if lower.endswith(ext):
+            name = name[: -len(ext)]
+            break
+    if not name or any(ch.isspace() for ch in name):
+        raise ValueError("template name cannot be empty or contain spaces")
+    if "/" in name or "\\" in name or ".." in name:
+        raise ValueError("invalid template name")
+    width = int(width)
+    height = int(height)
+    if width < 1 or height < 1:
+        raise ValueError("capture size is missing")
+    stem = _RES_SUFFIX_RE.sub("", name)
+    if not stem:
+        raise ValueError("template name cannot be empty or contain spaces")
+    return "%s_%sx%s.jpg" % (stem, width, height)
+
+
 def _as_xy(value, name):
     if not isinstance(value, (list, tuple)) or len(value) != 2:
         raise ValueError("%s must be [x, y]" % name)
@@ -164,12 +194,27 @@ def download_file(name):
 @bp.route("/save_template/<filename>")
 def save_template(filename=None):
     global croppedImage
+    if croppedImage is None:
+        return jsonify({"status": "error", "error": "no crop to save"}), 400
+    size = capture_size()
+    width = request.args.get("width", type=int)
+    height = request.args.get("height", type=int)
+    if size is not None:
+        width, height = size
+    if not width or not height:
+        return jsonify({"status": "error", "error": "capture size is missing"}), 400
+    try:
+        filename = template_save_name(filename, width, height)
+    except ValueError as exc:
+        return jsonify({"status": "error", "error": str(exc)}), 400
+    filename = secure_filename(filename)
+    if not filename:
+        return jsonify({"status": "error", "error": "invalid template name"}), 400
     folder = upload_folder()
     if not os.path.exists(folder):
         os.makedirs(folder)
     cv2.imwrite(os.path.join(folder, filename), croppedImage)
-    data = {"status": "saved"}
-    return data, 200
+    return jsonify({"status": "saved", "filename": filename}), 200
 
 
 @bp.route("/delete_template")
@@ -182,9 +227,9 @@ def delete_template(filename=None):
     return data, 200
 
 
-@bp.route("/vision/files")
-@bp.route("/vision/files/")
-def files():
+@bp.route("/vision/templates")
+@bp.route("/vision/templates/")
+def templates():
     folder = upload_folder()
     if not os.path.exists(folder):
         os.makedirs(folder)
@@ -192,6 +237,12 @@ def files():
     return render_template("vision/saved_templates.html", title="Templates", files=filenames)
 
 
+@bp.route("/vision/files")
+@bp.route("/vision/files/")
+def files():
+    return redirect(url_for("vision.templates"))
+
+
 @bp.route("/vision/files/<path:filename>")
 def file(filename):
     return send_from_directory(upload_folder(), filename, as_attachment=False)
diff --git a/Web/tests/test_app_factory.py b/Web/tests/test_app_factory.py
index 4753dca..8ee30ca 100644
--- a/Web/tests/test_app_factory.py
+++ b/Web/tests/test_app_factory.py
@@ -84,6 +84,7 @@ def test_full_app_keeps_hmi_output_sized(self):
         self.assertIn("/", rules)
         self.assertIn("/vision", rules)
         self.assertIn("/vision/files", rules)
+        self.assertIn("/vision/templates", rules)
         self.assertIn("/vision/roi", rules)
         self.assertIn("/vision/output_sized", rules)
         self.assertIn("/output_sized", rules)
diff --git a/Web/tests/test_roi.py b/Web/tests/test_roi.py
index c151613..4abe048 100644
--- a/Web/tests/test_roi.py
+++ b/Web/tests/test_roi.py
@@ -95,11 +95,54 @@ def test_vision_page_has_roi_mode(self):
         self.assertEqual(page.status_code, 200)
         html = page.get_data(as_text=True)
         self.assertIn('id="mode-roi"', html)
+        self.assertIn('id="mode-capture"', html)
         self.assertIn('id="save-roi"', html)
         self.assertIn("/vision/roi", html)
+        self.assertIn("/vision/templates", html)
         self.assertIn("Capture size vs field of view", html)
         self.assertIn("1332", html)
+        self.assertIn("template-preview", html)
+        self.assertNotIn(">Files</a>", html)
+
+    def test_files_redirects_to_templates(self):
+        response = self.client.get("/vision/files")
+        self.assertIn(response.status_code, (301, 302, 308))
+        self.assertIn("/vision/templates", response.headers.get("Location", ""))
+
+    def test_templates_page_has_vision_tabs(self):
+        page = self.client.get("/vision/templates")
+        self.assertEqual(page.status_code, 200)
+        html = page.get_data(as_text=True)
+        self.assertIn("Templates", html)
+        self.assertIn("Capture", html)
+        self.assertIn("/vision", html)
+
+
+class TemplateNameTests(unittest.TestCase):
+    def setUp(self):
+        _stub_cv2()
+        from app.vision import template_save_name
+
+        self.fn = template_save_name
+
+    def test_appends_resolution(self):
+        self.assertEqual(self.fn("screwdriver", 640, 400), "screwdriver_640x400.jpg")
+
+    def test_rejects_spaces(self):
+        with self.assertRaises(ValueError):
+            self.fn("screw driver", 640, 400)
+
+    def test_rejects_empty(self):
+        with self.assertRaises(ValueError):
+            self.fn("   ", 640, 400)
+
+    def test_replaces_existing_suffix_with_capture_size(self):
+        self.assertEqual(self.fn("part_2000x2000", 640, 400), "part_640x400.jpg")
+
+    def test_strips_extension(self):
+        self.assertEqual(self.fn("part.jpg", 2000, 2000), "part_2000x2000.jpg")
 
 
 if __name__ == "__main__":
     unittest.main()
+
diff --git a/codesys-git-diff/README.md b/codesys-git-diff/README.md
index 8efa7bc..e27c669 100644
--- a/codesys-git-diff/README.md
+++ b/codesys-git-diff/README.md
@@ -89,8 +89,11 @@ The normalizer (`codesys_xml_normalize.py`) does the following:
 - **Sorts attributes** — XML has no defined attribute order; sorting gives a
   stable serialization.
 - **Consistent indentation** — 2-space indent, one element per line.
-- **Preserves all content** — variable declarations, ST/FBD/LD code,
-  task configurations, data types — nothing semantic is removed.
+- **One ST declaration** — if `InterfaceAsPlainText` is present, the
+  structured `<variable>` / `<inputVars>` / `<baseType>` copy is dropped so
+  GitHub Desktop does not show the same edit twice. Extra plaintext copies
+  in later var sections are dropped too.
+- **Preserves implementation ST, tasks, and remaining semantics.**
 - **Encoding tolerant** — handles UTF-8 BOM, UTF-8, and Latin-1 exports.
 
 ---
diff --git a/codesys-git-diff/codesys_xml_normalize.py b/codesys-git-diff/codesys_xml_normalize.py
index 03409fc..d4edcf4 100644
--- a/codesys-git-diff/codesys_xml_normalize.py
+++ b/codesys-git-diff/codesys_xml_normalize.py
@@ -14,6 +14,9 @@
   - Strips noise TAG ATTRIBUTES that change every export (timestamps, GUIDs)
   - Strips noise CHILD ELEMENTS: <Attribute Name="checksumnoinit_override">
     and similar volatile CodeSys metadata elements inside <Attributes> blocks
+  - When InterfaceAsPlainText is present, drops the duplicate structured
+    declaration (variable / inputVars / baseType / ...) and extra plaintext
+    copies so git diff shows the ST once
   - Prunes empty container elements left behind after stripping (addData, data, Attributes)
   - Sorts <Attribute> children within <Attributes> containers for stable order
   - Normalizes whitespace in text content
@@ -73,6 +76,25 @@
 # ---------------------------------------------------------------------------
 PRUNABLE_CONTAINERS = {"Attributes", "data", "addData"}
 
+# Objects that own their own declaration (do not treat nested IPT as this node's)
+NESTED_OBJECTS = {"pou", "Method", "dataType", "action", "transition", "Function"}
+
+# Nodes whose structured children duplicate InterfaceAsPlainText
+PLAINTEXT_CONTAINERS = {"globalVars", "interface", "dataType"}
+
+# Structured declaration nodes that duplicate the ST in InterfaceAsPlainText
+STRUCTURED_DUP_TAGS = {
+    "variable",
+    "inputVars",
+    "outputVars",
+    "inOutVars",
+    "localVars",
+    "externalVars",
+    "tempVars",
+    "returnType",
+    "baseType",
+}
+
 # Namespace URI → preferred prefix mapping (keeps output readable)
 KNOWN_NAMESPACES = {
     "http://www.plcopen.org/xml/tc6_0200":  "",          # PLCopen default ns
@@ -176,6 +198,57 @@ def _attr_sort_key(e: ET.Element) -> str:
         _normalize_element(child)
 
 
+def _strip_variable_children(elem: ET.Element) -> None:
+    for child in list(elem):
+        if _local_name(child.tag) == "variable":
+            elem.remove(child)
+
+
+def _element_has_plaintext(elem: ET.Element) -> bool:
+    for node in elem.iter():
+        if _local_name(node.tag) == "InterfaceAsPlainText":
+            return True
+    return False
+
+
+def _strip_structured_duplicates(elem: ET.Element) -> bool:
+    """
+    Drop structured declaration XML when InterfaceAsPlainText is present.
+
+    CODESYS writes both the PLCOpen <variable>/<inputVars>/<baseType> tree and
+    the ST in InterfaceAsPlainText. GitHub Desktop then shows every edit twice.
+    Keep the first plaintext copy; remove extra IPT copies that appear in later
+    var sections of the same interface.
+
+    Returns True if this subtree (excluding nested POU/method/datatype objects)
+    contains InterfaceAsPlainText.
+    """
+    name = _local_name(elem.tag)
+    has_here = name == "InterfaceAsPlainText"
+    for child in list(elem):
+        child_has = _strip_structured_duplicates(child)
+        if _local_name(child.tag) in NESTED_OBJECTS:
+            continue
+        has_here = has_here or child_has
+
+    if name in PLAINTEXT_CONTAINERS and has_here:
+        kept_plaintext = False
+        for child in list(elem):
+            child_name = _local_name(child.tag)
+            child_has = _element_has_plaintext(child)
+            if child_name in STRUCTURED_DUP_TAGS:
+                if child_has and not kept_plaintext:
+                    kept_plaintext = True
+                    _strip_variable_children(child)
+                    continue
+                elem.remove(child)
+                continue
+            if child_has and not kept_plaintext:
+                kept_plaintext = True
+
+    return has_here if name not in NESTED_OBJECTS else False
+
+
 def _prune_empty_containers(elem: ET.Element) -> None:
     """
     Bottom-up pass: remove child elements that belong to PRUNABLE_CONTAINERS
@@ -256,6 +329,9 @@ def normalize_file(filepath: str) -> None:
     # --- Normalize ---
     _normalize_element(root)
 
+    # --- One ST declaration per object (drop structured XML + extra IPT) ---
+    _strip_structured_duplicates(root)
+
     # --- Prune empty containers left behind by noise stripping ---
     _prune_empty_containers(root)