diff --git a/Readme.md b/Readme.md
index 5b86a91..e3fb374 100644
--- a/Readme.md
+++ b/Readme.md
@@ -6,12 +6,27 @@ Spindle pitch : 2mm/rev
 
 ### Motor 
 Motor Type : Beckhoff AM8131-0F21-0000 
-Rotational Encoder in the Servo motor: 18 bit single turn, 12 bit multi turn
+Rotational Encoder in the Servo motor: 13 bit single turn, 12 bit multi turn
+INC @ negative Hard Stop: 4257241296
+INC @ positive Hard Stop: 72120760
+
 
 ### Linear Encoder   
 Renishaw RL32BBS001C30A
 Resolution : 1 nm 32 bit
+INC @ negative Hard Stop: 18446744073490423421
+INC @ positive Hard Stop: 18446744073698842166
+
+
 
 
 
 ## Settings Axis 2
+Linear position @ negative hard stop : 0.000 mm
+negative limit switch @ 19.3 mm
+
+Linear position @ positive hard stop : 209.47 mm
+positive limit switch @ 202.27 mm
+
+
+!(docu_images/Axis2-encoder-open-loop.png)
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