diff --git a/client_socket.py b/client_socket.py
index 4b485e5..12da69d 100644
--- a/client_socket.py
+++ b/client_socket.py
@@ -106,7 +106,7 @@ class SocketRobotArm:
         self.tkinter_root.geometry("700x400")
 
         self.tkinter_imitate.pack()
-        self.tkinter_upd_model.pack() 
+        self.tkinter_upd_model.pack()
 
         self.tkinter_start_cycle.pack(pady=20)
         self.tkinter_exit.pack(pady=20)
@@ -133,7 +133,9 @@ class SocketRobotArm:
             + [self.set_physical_speed(False), self.set_output_laser(False)]
         )
 
-        # print(self.convert_file_to_join())
+        print(self.convert_file_to_join())
+        print(self.steps_from_file())
+
 
         self.tkinter_info_label.config(text=f"Отправка данных...")
         self.tkinter_info_label.pack()
@@ -262,7 +264,11 @@ class SocketRobotArm:
             "ckStatus": "0x3F",
         }
         if type == "line" or type == "free":
-            pairs = zip(self.start_world_coordinates, point)
+            if type == "line":
+                pairs = zip(self.start_world_coordinates, point)
+            if type == "free":
+                pairs = zip(self.start_axis_coordinates, point)
+                
             m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
             if type == "line":
                 step.update({"action": "10"})
@@ -325,21 +331,24 @@ class SocketRobotArm:
                 for item in data:
                     prep[item[:1]] = float(item[1:])
 
-                result.append(
-                    self.make_world_step(
-                        "free",
-                        self.convert_to_joint(
-                            (
-                                prep.get("X", 0),
-                                prep.get("Y", 0),
-                                prep.get("Z", 0),
-                                # prep.get("U", 0),
-                                # prep.get("V", 0),
-                                # prep.get("W", 0),
-                            )
-                        ),
+                pj = list(
+                    self.convert_to_joint(
+                        (
+                            prep.get("X", 0),
+                            prep.get("Y", 0),
+                            prep.get("Z", 0),
+                        )
                     )
                 )
+                pj.extend(
+                    [
+                        prep.get("U", 0),
+                        prep.get("V", 0),
+                        prep.get("W", 0),
+                    ]
+                ),
+                print(pj)
+                result.append(self.make_world_step("free", tuple(pj)))
         return result
 
     def steps_from_file(self):