diff --git a/solution/TC_iTomcat-ES2-Detector-Tower-FAT.tsproj b/solution/TC_iTomcat-ES2-Detector-Tower-FAT.tsproj
index b535501..ce1bf98 100644
--- a/solution/TC_iTomcat-ES2-Detector-Tower-FAT.tsproj
+++ b/solution/TC_iTomcat-ES2-Detector-Tower-FAT.tsproj
@@ -31,6 +31,5 @@
 		<MappingInfo Identifier="{00000000-0030-0304-1000-040330000403}" Id="#x02030010"/>
 		<MappingInfo Identifier="{00000000-0040-0304-1000-040341000403}" Id="#x02030020"/>
 		<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
-		<MappingInfo Identifier="{08502041-0030-0304-4020-500830000403}" Id="#x02030040" Watchdog="00000000000000000000000000000000"/>
 	</Mappings>
 </TcSmProject>
diff --git a/solution/_Config/NC/Axes/Axis 2.xti b/solution/_Config/NC/Axes/Axis 2.xti
index fd25256..aaa6d0e 100644
--- a/solution/_Config/NC/Axes/Axis 2.xti	
+++ b/solution/_Config/NC/Axes/Axis 2.xti	
@@ -1431,8 +1431,8 @@ External Setpoint Generation:
 			<Velo RefSearch="0.380666666666667" RefSync="0.380666666666667" SlowManual="1.90333333333333" FastManual="11.42" Fast="38.0666666666667" Maximum="38.0666666666667"/>
 			<OtherSettings AllowMotionCmdToSlave="true"/>
 		</AxisPara>
-		<Encoder Name="Enc" EncType="19">
-			<EncPara ScaleFactorNumerator="2" ScaleFactorDenominator="1048576" Offset="418.1787" MaxCount="#xffffffff"/>
+		<Encoder Name="Enc" EncType="29">
+			<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000000" Offset="418.1787" Inverse="true" MaxCount="#xffffffff" MaxCountHighDWord="#x0000001f"/>
 			<Vars VarGrpType="1">
 				<Name>Inputs</Name>
 				<Var>
@@ -1467,8 +1467,8 @@ External Setpoint Generation:
 			</Vars>
 		</Encoder>
 		<Drive Name="Drive" DrvType="16">
-			<DrvPara MaxCount="#xffffffff">
-				<Analog VeloReferenz="41.8733333333333" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
+			<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
+				<Analog VeloReferenz="41.8733333333333" VeloScale="32" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
 				<TimeComp TaskDelayCycles="1"/>
 			</DrvPara>
 			<Vars VarGrpType="1">
@@ -1524,7 +1524,7 @@ External Setpoint Generation:
 		</Drive>
 		<Controller Name="Ctrl" CtrType="1">
 			<CtrPara PriorControlFactor="1">
-				<PID PosKp="30"/>
+				<PID PosKp="50"/>
 				<Observer BandWidth="20"/>
 			</CtrPara>
 		</Controller>
@@ -1545,7 +1545,18 @@ External Setpoint Generation:
 	</Axis>
 	<Mappings>
 		<OwnerA>
-			<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 23 (EL7211-9014)">
+			<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 16 (EL5042)">
+				<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState" Size="1"/>
+				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 2^Position"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Diag" Size="1" OffsA="12"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Error" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Input cycle counter" Size="2" OffsA="14"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Ready" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^TxPDO State" Size="1" OffsA="13"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Warning" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 22 (EL7211-9014)">
 				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
 				<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
 				<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
@@ -1554,18 +1565,6 @@ External Setpoint Generation:
 				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
 				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
 				<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
-				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position" Size="32"/>
-				<Link VarA="Enc^Inputs^In^nDataIn6" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
-				<Link VarA="Enc^Inputs^In^nDataIn6" VarB="WcState^WcState" Size="1"/>
-				<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
-				<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Enable" Size="1"/>
-				<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Input" Size="1" OffsA="7"/>
-				<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Neg value stored" Size="1" OffsA="2"/>
-				<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Pos value stored" Size="1" OffsA="1"/>
-				<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Enable" Size="1"/>
-				<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Input" Size="1" OffsA="7"/>
-				<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Neg value stored" Size="1" OffsA="2"/>
-				<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Pos value stored" Size="1" OffsA="1"/>
 			</OwnerB>
 		</OwnerA>
 	</Mappings>
diff --git a/solution/_Config/NC/Axes/Axis 3.xti b/solution/_Config/NC/Axes/Axis 3.xti
index abdbd56..f065030 100644
--- a/solution/_Config/NC/Axes/Axis 3.xti	
+++ b/solution/_Config/NC/Axes/Axis 3.xti	
@@ -1467,8 +1467,8 @@ External Setpoint Generation:
 			</Vars>
 		</Encoder>
 		<Drive Name="Drive" DrvType="16">
-			<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
-				<Analog VeloReferenz="125.4" VeloScale="32" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
+			<DrvPara MaxCount="#xffffffff">
+				<Analog VeloReferenz="125.4" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
 				<TimeComp TaskDelayCycles="1"/>
 			</DrvPara>
 			<Vars VarGrpType="1">
@@ -1558,8 +1558,13 @@ External Setpoint Generation:
 			</OwnerB>
 			<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 23 (EL7211-9014)">
 				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
 				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
 				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
+				<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
 			</OwnerB>
 		</OwnerA>
 	</Mappings>