diff --git a/solution/_Config/NC/Axes/VC.xti b/solution/_Config/NC/Axes/VC.xti
index 41f52e4..e7c59f5 100644
--- a/solution/_Config/NC/Axes/VC.xti
+++ b/solution/_Config/NC/Axes/VC.xti
@@ -1485,7 +1485,6 @@ External Setpoint Generation:
 		</Drive>
 		<Controller Name="Ctrl" CtrType="1">
 			<CtrPara PriorControlFactor="1">
-				<PosDiffControl Enable="false"/>
 				<PID PosKp="2"/>
 				<Observer BandWidth="20"/>
 			</CtrPara>
diff --git a/solution/_Config/NC/Axes/VG.xti b/solution/_Config/NC/Axes/VG.xti
index ea349e9..5de84ff 100644
--- a/solution/_Config/NC/Axes/VG.xti
+++ b/solution/_Config/NC/Axes/VG.xti
@@ -1485,7 +1485,7 @@ External Setpoint Generation:
 		</Drive>
 		<Controller Name="Ctrl" CtrType="1">
 			<CtrPara PriorControlFactor="1">
-				<PosDiffControl Enable="false"/>
+				<PosDiffControl Range="0.5"/>
 				<Observer BandWidth="20"/>
 			</CtrPara>
 		</Controller>
diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti
index c1bf9f0..65a1187 100644
--- a/solution/_Config/PLC/tc_project_app.xti
+++ b/solution/_Config/PLC/tc_project_app.xti
@@ -1094,6 +1094,14 @@ External Setpoint Generation:
 					<Name>GVL.astAxes[6].Axis.PlcToNc</Name>
 					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 				</Var>
+				<Var>
+					<Name>MAIN.slit1Vertical.GapSizeEncoder</Name>
+					<Type>UDINT</Type>
+				</Var>
+				<Var>
+					<Name>MAIN.slit1Vertical.GapCentreEncoder</Name>
+					<Type>UDINT</Type>
+				</Var>
 				<Var>
 					<Name>limitsPower.bEnableAxis1Limits</Name>
 					<Type>BOOL</Type>
@@ -1110,14 +1118,6 @@ External Setpoint Generation:
 					<Name>limitsPower.bEnableAxis2Enc</Name>
 					<Type>BOOL</Type>
 				</Var>
-				<Var>
-					<Name>testSlitApp.iGapSizePosition</Name>
-					<Type>UDINT</Type>
-				</Var>
-				<Var>
-					<Name>testSlitApp.iGapCentrePosition</Name>
-					<Type>UDINT</Type>
-				</Var>
 			</Vars>
 			<Contexts>
 				<Context>
@@ -1172,12 +1172,12 @@ External Setpoint Generation:
 			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^VC">
 				<Link VarA="PlcTask Inputs^GVL.astAxes[4].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
 				<Link VarA="PlcTask Outputs^GVL.astAxes[4].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
-				<Link VarA="PlcTask Outputs^testSlitApp.iGapCentrePosition" VarB="Enc^Inputs^In^nDataIn1"/>
+				<Link VarA="PlcTask Outputs^MAIN.slit1Vertical.GapCentreEncoder" VarB="Enc^Inputs^In^nDataIn1"/>
 			</OwnerB>
 			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^VG">
 				<Link VarA="PlcTask Inputs^GVL.astAxes[3].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
 				<Link VarA="PlcTask Outputs^GVL.astAxes[3].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
-				<Link VarA="PlcTask Outputs^testSlitApp.iGapSizePosition" VarB="Enc^Inputs^In^nDataIn1"/>
+				<Link VarA="PlcTask Outputs^MAIN.slit1Vertical.GapSizeEncoder" VarB="Enc^Inputs^In^nDataIn1"/>
 			</OwnerB>
 		</OwnerA>
 	</Mappings>
diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU
index 911f27e..14cd000 100644
--- a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU
+++ b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU
@@ -3,10 +3,10 @@
   <POU Name="FB_SlitPairV2" Id="{ff4013b1-472a-4f42-a6c8-2711712ac06d}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK FB_SlitPairV2
 VAR_INPUT
-    positiveAxis_ID : UINT;
-    negativeAxis_ID : UINT;
-    GapSizeAxis_ID : UINT;
-    GapCentreAxis_ID : UINT;
+    ID_positiveAxis : UINT;
+    ID_negativeAxis : UINT;
+    ID_gapSizeAxis : UINT;
+    ID_gapCentreAxis : UINT;
     
     Enable : BOOL;
     Reset : BOOL;
@@ -45,13 +45,323 @@ VAR
     dir_gapSizeAxis : DINT;
     dir_gapCentreAxis : DINT;
     
+    iState : E_SlitPairStatesV2 := E_SlitPairStatesV2.INIT;
+    
+    internalReset : BOOL;
+    
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[//Setup instructions
+//Virtual encoder mask needs to be 0xFFFFFFFF
+
+actVirtualAxisPositions();
+GVL.astAxes[ID_gapSizeAxis].stConfig.eHomeSeq:= E_HomingRoutines.eHomeDirect;
+GVL.astAxes[ID_gapCentreAxis].stConfig.eHomeSeq:= E_HomingRoutines.eHomeDirect;
+GVL.astAxes[ID_gapSizeAxis].stConfig.fHomePosition:= fGapSize;
+GVL.astAxes[ID_gapCentreAxis].stConfig.fHomePosition:= fGapCentre;
+
+//What do we need
+
+//Limit logic
+actVirtualAxisLimits();
+//Enable Logic
+actVirtualAxisEnable();
+//Call spGenerator FBs
+actGeneratorEnableDisable();
+//Calculate position setpoints
+actCalculateSetpointPositions();
+//Calculate velocity setpoints
+actCalculateSetpointVelocities();
+//Calculate directions
+actCalculateSetpointDirections();
+
+//We're only going to care about errors that stop motion!
+IF GVL.astAxes[ID_positiveAxis].Axis.Status.ErrorStop OR GVL.astAxes[ID_negativeAxis].Axis.Status.ErrorStop OR GVL.astAxes[ID_gapSizeAxis].Axis.Status.ErrorStop OR GVL.astAxes[ID_gapCentreAxis].Axis.Status.ErrorStop THEN
+    iState:= E_SlitPairStatesV2.ERROR_INIT;
+END_IF
+
+//Internal Reset linked to any axis reset
+internalReset := Reset OR GVL.astAxes[ID_positiveAxis].stControl.bReset OR GVL.astAxes[ID_negativeAxis].stControl.bReset OR GVL.astAxes[ID_gapSizeAxis].stControl.bReset OR GVL.astAxes[ID_gapCentreAxis].stControl.bReset;
+
+//State machine (with error handling and reset logic) - WHAT ABOUT HOMING?
+IF Enable THEN
+    CASE istate OF
+        E_SlitPairStatesV2.INIT:
+            IF GVL.astAxes[ID_positiveAxis].stStatus.bHomed AND GVL.astAxes[ID_negativeAxis].stStatus.bHomed THEN
+                GVL.astAxes[ID_gapSizeAxis].stControl.eCommand:= E_MotionFunctions.eHome;
+                GVL.astAxes[ID_gapSizeAxis].stControl.bExecute:= TRUE;
+                GVL.astAxes[ID_gapcentreAxis].stControl.eCommand:= E_MotionFunctions.eHome;
+                GVL.astAxes[ID_gapcentreAxis].stControl.bExecute:= TRUE;
+                iState:=E_SlitPairStatesV2.WAIT_FOR_HOMED;
+            ELSE
+                iState:=E_SlitPairStatesV2.OPERATIONAL;
+			END_IF
+                     
+        E_SlitPairStatesV2.WAIT_FOR_HOMED:
+            IF GVL.astAxes[ID_gapSizeAxis].stStatus.bHomed AND GVL.astAxes[ID_gapCentreAxis].stStatus.bHomed THEN
+                iState:=E_SlitPairStatesV2.OPERATIONAL;
+			END_IF
+       
+        E_SlitPairStatesV2.OPERATIONAL:
+            IF GVL.astAxes[ID_gapSizeAxis].stStatus.bMoving OR GVL.astAxes[ID_gapCentreAxis].stStatus.bMoving THEN
+                iState:=E_SlitPairStatesV2.ENABLE_REAL_GENERATORS;
+			END_IF
+            IF GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving THEN
+                iState:=E_SlitPairStatesV2.ENABLE_VIRTUAL_GENERATORS;
+            END_IF
+            
+        E_SlitPairStatesV2.ENABLE_REAL_GENERATORS:
+            setpointGenEnable_positiveAxis.Execute:=TRUE;
+            setpointGenEnable_negativeAxis.Execute:=TRUE;
+            iState:=E_SlitPairStatesV2.WAIT_FOR_VIRTUAL_MOVE_DONE;
+            
+        E_SlitPairStatesV2.WAIT_FOR_VIRTUAL_MOVE_DONE:
+            IF NOT(GVL.astAxes[ID_gapSizeAxis].stStatus.bMoving OR GVL.astAxes[ID_gapCentreAxis].stStatus.bMoving) THEN
+                iState:=E_SlitPairStatesV2.DISABLE_REAL_GENERATORS;
+			END_IF
+            
+        E_SlitPairStatesV2.DISABLE_REAL_GENERATORS:
+            setpointGenDisable_positiveAxis.Execute:=TRUE;
+            setpointGenDisable_negativeAxis.Execute:=TRUE;
+            iState:=E_SlitPairStatesV2.OPERATIONAL;
+            
+        E_SlitPairStatesV2.ENABLE_VIRTUAL_GENERATORS:
+            setpointGenEnable_gapSizeAxis.Execute :=TRUE;
+            setpointGenEnable_gapCentreAxis.Execute:=TRUE;
+            iState:=E_SlitPairStatesV2.WAIT_FOR_REAL_MOVE_DONE;
+            
+        E_SlitPairStatesV2.WAIT_FOR_REAL_MOVE_DONE:
+            IF NOT(GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving) THEN
+                iState:=E_SlitPairStatesV2.DISABLE_VIRTUAL_GENERATORS;
+			END_IF
+            
+        E_SlitPairStatesV2.DISABLE_VIRTUAL_GENERATORS:
+            setpointGenDisable_gapSizeAxis.Execute :=TRUE;
+            setpointGenDisable_gapCentreAxis.Execute:=TRUE;
+            iState:=E_SlitPairStatesV2.OPERATIONAL;
+            
+        E_SlitPairStatesV2.ERROR_INIT:
+            IF internalReset THEN
+                GVL.astAxes[ID_positiveAxis].stControl.bReset := TRUE;
+                GVL.astAxes[ID_negativeAxis].stControl.bReset := TRUE;
+                GVL.astAxes[ID_gapSizeAxis].stControl.bReset := TRUE;
+                GVL.astAxes[ID_gapCentreAxis].stControl.bReset := TRUE;
+                iState:= E_SlitPairStatesV2.INIT;
+			END_IF
+    
+	END_CASE
+END_IF
+
+
+//Feed externalsetpoint generators
+MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[ID_positiveAxis].Axis, Position:= posSetpoint_positiveAxis, Velocity:= veloSetpoint_positiveAxis, Acceleration:= 0, Direction:= dir_positiveAxis);
+MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[ID_negativeAxis].Axis, Position:= posSetpoint_negativeAxis, Velocity:= veloSetpoint_negativeAxis, Acceleration:= 0, Direction:= dir_negativeAxis);
+MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[ID_gapSizeAxis].Axis, Position:= posSetpoint_gapSizeAxis, Velocity:= veloSetpoint_gapSizeAxis, Acceleration:= 0, Direction:= dir_gapSizeAxis);
+MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[ID_gapCentreAxis].Axis, Position:= posSetpoint_gapCentreAxis, Velocity:= veloSetpoint_gapCentreAxis, Acceleration:= 0, Direction:= dir_gapCentreAxis);]]></ST>
     </Implementation>
+    <Action Name="actCalculateSetpointDirections" Id="{7783e346-7fab-40d5-bab7-fe46a8c2f785}">
+      <Implementation>
+        <ST><![CDATA[IF veloSetpoint_positiveAxis >0 THEN
+    dir_positiveAxis := 1; //moving forward
+ELSIF veloSetpoint_positiveAxis <0 THEN
+    dir_positiveAxis := -1; //moving backward
+ELSE
+    dir_positiveAxis := 0; //stationary
+END_IF
+
+IF veloSetpoint_negativeAxis >0 THEN
+    dir_negativeAxis := 1; //moving forward
+ELSIF veloSetpoint_negativeAxis <0 THEN
+    dir_negativeAxis := -1; //moving backward
+ELSE
+    dir_negativeAxis := 0; //stationary
+END_IF
+
+IF veloSetpoint_gapSizeAxis >0 THEN
+    dir_gapSizeAxis := 1; //moving forward
+ELSIF veloSetpoint_gapSizeAxis <0 THEN
+    dir_gapSizeAxis := -1; //moving backward
+ELSE
+    dir_gapSizeAxis := 0; //stationary
+END_IF
+
+IF veloSetpoint_gapCentreAxis >0 THEN
+    dir_gapCentreAxis := 1; //moving forward
+ELSIF veloSetpoint_gapCentreAxis <0 THEN
+    dir_gapCentreAxis := -1; //moving backward
+ELSE
+    dir_gapCentreAxis := 0; //stationary
+END_IF]]></ST>
+      </Implementation>
+    </Action>
+    <Action Name="actCalculateSetpointPositions" Id="{08e35b97-914a-4ccc-a3af-6b7cd8e60439}">
+      <Implementation>
+        <ST><![CDATA[posSetpoint_positiveAxis := GVL.astAxes[ID_gapCentreAxis].Axis.NcToPlc.SetPos + (GVL.astAxes[ID_gapSizeAxis].Axis.NcToPlc.SetPos/2);
+posSetpoint_negativeAxis := GVL.astAxes[ID_gapCentreAxis].Axis.NcToPlc.SetPos - (GVL.astAxes[ID_gapSizeAxis].Axis.NcToPlc.SetPos/2);
+posSetpoint_gapSizeAxis := GVL.astAxes[ID_positiveAxis].Axis.NcToPlc.SetPos - GVL.astAxes[ID_negativeAxis].Axis.NcToPlc.SetPos;
+posSetpoint_gapCentreAxis := (GVL.astAxes[ID_positiveAxis].Axis.NcToPlc.SetPos + GVL.astAxes[ID_negativeAxis].Axis.NcToPlc.SetPos) / 2;]]></ST>
+      </Implementation>
+    </Action>
+    <Action Name="actCalculateSetpointVelocities" Id="{59813eea-6905-4661-a8f3-10b16a472979}">
+      <Implementation>
+        <ST><![CDATA[veloSetpoint_positiveAxis := GVL.astAxes[ID_gapCentreAxis].Axis.NcToPlc.SetVelo +(GVL.astAxes[ID_gapSizeAxis].Axis.NcToPlc.SetVelo/2);
+veloSetpoint_negativeAxis := GVL.astAxes[ID_gapCentreAxis].Axis.NcToPlc.SetVelo -(GVL.astAxes[ID_gapSizeAxis].Axis.NcToPlc.SetVelo/2);
+veloSetpoint_gapSizeAxis := GVL.astAxes[ID_positiveAxis].Axis.NcToPlc.SetVelo - GVL.astAxes[ID_negativeAxis].Axis.NcToPlc.SetVelo;
+veloSetpoint_gapCentreAxis := GVL.astAxes[ID_positiveAxis].Axis.NcToPlc.SetVelo + GVL.astAxes[ID_negativeAxis].Axis.NcToPlc.SetVelo;]]></ST>
+      </Implementation>
+    </Action>
+    <Action Name="actGeneratorEnableDisable" Id="{d59f6d39-50eb-4cb0-8d9d-b62df150c5a5}">
+      <Implementation>
+        <ST><![CDATA[setpointGenEnable_positiveAxis(Axis:= GVL.astAxes[ID_positiveAxis].Axis);
+setpointGenEnable_positiveAxis.Execute:= FALSE;
+
+setpointGenEnable_negativeAxis(Axis:= GVL.astAxes[ID_negativeAxis].Axis);
+setpointGenEnable_negativeAxis.Execute:= FALSE;
+
+setpointGenEnable_gapSizeAxis(Axis:= GVL.astAxes[ID_gapSizeAxis].Axis);
+setpointGenEnable_gapSizeAxis.Execute:= FALSE;
+
+setpointGenEnable_gapCentreAxis(Axis:= GVL.astAxes[ID_gapCentreAxis].Axis);
+setpointGenEnable_gapCentreAxis.Execute:= FALSE;
+
+
+setpointGenDisable_positiveAxis(Axis:= GVL.astAxes[ID_positiveAxis].Axis);
+setpointGenDisable_positiveAxis.Execute:= FALSE;
+
+setpointGenDisable_negativeAxis(Axis:= GVL.astAxes[ID_negativeAxis].Axis);
+setpointGenDisable_negativeAxis.Execute:= FALSE;
+
+setpointGenDisable_gapSizeAxis(Axis:= GVL.astAxes[ID_gapSizeAxis].Axis);
+setpointGenDisable_gapSizeAxis.Execute:= FALSE;
+
+setpointGenDisable_gapCentreAxis(Axis:= GVL.astAxes[ID_gapCentreAxis].Axis);
+setpointGenDisable_gapCentreAxis.Execute:= FALSE;]]></ST>
+      </Implementation>
+    </Action>
+    <Action Name="actVirtualAxisEnable" Id="{d8729d12-361d-472b-8974-5b566dad7d06}">
+      <Implementation>
+        <ST><![CDATA[GVL.astAxes[ID_gapSizeAxis].stControl.bEnable := GVL.astAxes[ID_positiveAxis].stStatus.bEnabled AND GVL.astAxes[ID_negativeAxis].stStatus.bEnabled;
+GVL.astAxes[ID_gapCentreAxis].stControl.bEnable := GVL.astAxes[ID_positiveAxis].stStatus.bEnabled AND GVL.astAxes[ID_negativeAxis].stStatus.bEnabled;]]></ST>
+      </Implementation>
+    </Action>
+    <Action Name="actVirtualAxisLimits" Id="{436d835a-8846-47e9-922d-a1df63469a25}">
+      <Implementation>
+        <ST><![CDATA[GVL.astAxes[ID_gapSizeAxis].stInputs.bLimitFwd:= GVL.astAxes[ID_positiveAxis].stStatus.bFwEnabled AND GVL.astAxes[ID_negativeAxis].stStatus.bBwEnabled;
+GVL.astAxes[ID_gapSizeAxis].stInputs.bLimitBwd:= GVL.astAxes[ID_positiveAxis].stStatus.bBwEnabled AND GVL.astAxes[ID_negativeAxis].stStatus.bFwEnabled;
+
+GVL.astAxes[ID_gapCentreAxis].stInputs.bLimitFwd:= GVL.astAxes[ID_positiveAxis].stStatus.bFwEnabled AND GVL.astAxes[ID_negativeAxis].stStatus.bFwEnabled;
+GVL.astAxes[ID_gapCentreAxis].stInputs.bLimitBwd:= GVL.astAxes[ID_positiveAxis].stStatus.bBwEnabled AND GVL.astAxes[ID_negativeAxis].stStatus.bBwEnabled;]]></ST>
+      </Implementation>
+    </Action>
+    <Action Name="actVirtualAxisPositions" Id="{4ef557a2-3171-4a03-98ba-14f2cd3ef5ec}">
+      <Implementation>
+        <ST><![CDATA[(*Calculate virtual axis positions and convert to UDINT.
+Conversion to UDINT is prohibited if it would exceed UDINT max value of 4,294,967,295.
+If this is not done, it can cause overflow when connected to the encoder input and hard-crash the PLC which will only recover with a power cycle.
+To preserve decimal position data of the LREAL (i.e. anything <1mm) it is necessary to scale the value before converting to UDINT.
+This can be reversed with the correct scaling at the NC encoder level.
+*)
+fGapSize := GVL.astAxes[ID_positiveAxis].stStatus.fActPosition - GVL.astAxes[ID_negativeAxis].stStatus.fActPosition;
+fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ID_negativeAxis].stStatus.fActPosition) / 2;
+
+
+    IF ABS(fGapSize) < 100000 THEN
+        GapSizeEncoder := LREAL_TO_UDINT(fGapSize*EncoderScaling);
+    END_IF
+    IF ABS(fGapCentre) < 100000 THEN
+        GapCentreEncoder := LREAL_TO_UDINT(fGapCentre*EncoderScaling);
+    END_IF]]></ST>
+      </Implementation>
+    </Action>
     <LineIds Name="FB_SlitPairV2">
+      <LineId Id="231" Count="0" />
+      <LineId Id="233" Count="0" />
+      <LineId Id="232" Count="0" />
       <LineId Id="9" Count="0" />
+      <LineId Id="245" Count="1" />
+      <LineId Id="259" Count="1" />
+      <LineId Id="57" Count="0" />
+      <LineId Id="56" Count="0" />
+      <LineId Id="59" Count="0" />
+      <LineId Id="58" Count="0" />
+      <LineId Id="78" Count="0" />
+      <LineId Id="60" Count="0" />
+      <LineId Id="80" Count="0" />
+      <LineId Id="62" Count="0" />
+      <LineId Id="92" Count="0" />
+      <LineId Id="64" Count="0" />
+      <LineId Id="106" Count="0" />
+      <LineId Id="66" Count="0" />
+      <LineId Id="112" Count="0" />
+      <LineId Id="68" Count="0" />
+      <LineId Id="118" Count="0" />
+      <LineId Id="170" Count="4" />
+      <LineId Id="219" Count="2" />
+      <LineId Id="73" Count="0" />
+      <LineId Id="72" Count="0" />
+      <LineId Id="175" Count="0" />
+      <LineId Id="178" Count="1" />
+      <LineId Id="242" Count="1" />
+      <LineId Id="247" Count="3" />
+      <LineId Id="257" Count="1" />
+      <LineId Id="244" Count="0" />
+      <LineId Id="185" Count="0" />
+      <LineId Id="251" Count="0" />
+      <LineId Id="254" Count="2" />
+      <LineId Id="252" Count="0" />
+      <LineId Id="234" Count="0" />
+      <LineId Id="236" Count="4" />
+      <LineId Id="235" Count="0" />
+      <LineId Id="241" Count="0" />
+      <LineId Id="187" Count="8" />
+      <LineId Id="216" Count="0" />
+      <LineId Id="196" Count="8" />
+      <LineId Id="215" Count="0" />
+      <LineId Id="205" Count="3" />
+      <LineId Id="214" Count="0" />
+      <LineId Id="209" Count="3" />
+      <LineId Id="222" Count="3" />
+      <LineId Id="227" Count="3" />
+      <LineId Id="226" Count="0" />
+      <LineId Id="213" Count="0" />
+      <LineId Id="176" Count="1" />
+      <LineId Id="127" Count="1" />
+      <LineId Id="126" Count="0" />
+      <LineId Id="129" Count="2" />
+      <LineId Id="133" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_SlitPairV2.actCalculateSetpointDirections">
+      <LineId Id="2" Count="5" />
+      <LineId Id="1" Count="0" />
+      <LineId Id="9" Count="6" />
+      <LineId Id="8" Count="0" />
+      <LineId Id="17" Count="6" />
+      <LineId Id="16" Count="0" />
+      <LineId Id="25" Count="6" />
+      <LineId Id="24" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_SlitPairV2.actCalculateSetpointPositions">
+      <LineId Id="2" Count="2" />
+      <LineId Id="1" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_SlitPairV2.actCalculateSetpointVelocities">
+      <LineId Id="2" Count="2" />
+      <LineId Id="1" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_SlitPairV2.actGeneratorEnableDisable">
+      <LineId Id="2" Count="22" />
+      <LineId Id="1" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_SlitPairV2.actVirtualAxisEnable">
+      <LineId Id="2" Count="1" />
+    </LineIds>
+    <LineIds Name="FB_SlitPairV2.actVirtualAxisLimits">
+      <LineId Id="2" Count="4" />
+    </LineIds>
+    <LineIds Name="FB_SlitPairV2.actVirtualAxisPositions">
+      <LineId Id="2" Count="14" />
+      <LineId Id="1" Count="0" />
     </LineIds>
   </POU>
 </TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index a1b8dd9..0b828b3 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -20,6 +20,8 @@ VAR
     afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
     afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition;
     fbGetDeviceIdentification: FB_GetDeviceIdentification;
+    
+    slit1Vertical : FB_SlitPairV2;
 END_VAR
 
 VAR PERSISTENT
@@ -28,7 +30,10 @@ END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[POSITION_RECOVERY();
 AXES();
-PROG();]]></ST>
+PROG();
+
+slit1Vertical(ID_positiveAxis:=1, ID_negativeAxis:=2, ID_gapSizeAxis:=3, ID_gapCentreAxis:=4);
+]]></ST>
     </Implementation>
     <Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
@@ -76,8 +81,7 @@ END_IF]]></ST>
     <Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
       <Implementation>
         <ST><![CDATA[testProg();
-limitsPower();
-testSlitApp();]]></ST>
+limitsPower();]]></ST>
       </Implementation>
     </Action>
     <Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
@@ -208,6 +212,9 @@ END_FOR]]></ST>
       <LineId Id="505" Count="0" />
       <LineId Id="81" Count="0" />
       <LineId Id="538" Count="0" />
+      <LineId Id="589" Count="0" />
+      <LineId Id="586" Count="0" />
+      <LineId Id="585" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.AXES">
       <LineId Id="11" Count="1" />
@@ -228,7 +235,6 @@ END_FOR]]></ST>
     </LineIds>
     <LineIds Name="MAIN.PROG">
       <LineId Id="13" Count="1" />
-      <LineId Id="11" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.RESTORE_POSITIONS">
       <LineId Id="567" Count="105" />
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index f0e0565..5a67b6e 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -28,6 +28,9 @@
     <Compile Include="PlcTask.TcTTO">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Application_Specific\Applications\FB_SlitPairV2.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Application_Specific\Applications\limitsPower.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -61,6 +64,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\E_RestorePosition.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_SlitPairStatesV2.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\Pneumatics\E_PneumaticAxisErrors.TcDUT">
       <SubType>Code</SubType>
     </Compile>