From f71f6ad113f3b6aa7ed7a358469aa193ee53c8ab Mon Sep 17 00:00:00 2001
From: Federico Rojas <federicorojas@esss.se>
Date: Wed, 10 Jul 2019 14:58:03 +0200
Subject: [PATCH] bError and bStop set to FALSE after execution

---
 solution.sln                           |   32 +-
 solution/solution.tsproj               | 1030 ++++++++++++++++++++----
 solution/tc_project_app/tc_mca_std_lib |    2 +-
 3 files changed, 869 insertions(+), 195 deletions(-)

diff --git a/solution.sln b/solution.sln
index 1bff69d..976e55d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
 		{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
 		{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
 		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
 		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
 		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
 		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
 		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index ff077ac..c5dd3cd 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,6 +1,626 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes"?>
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4022.28">
 	<DataTypes>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-000000000035}" TcBaseType="true" HideType="true">UINTARR2</Name>
+			<BitSize>32</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>2</Elements>
+			</ArrayInfo>
+			<Format Name="ArrayView" Preview="[%u, %u]">
+				<Printf>[%u, %u]</Printf>
+				<Parameter>[0]</Parameter>
+				<Parameter>[1]</Parameter>
+			</Format>
+			<Format Name="MixedView" Preview="%x [%u, %u]">
+				<Printf>0x%08x [%u, %u]</Printf>
+				<Parameter>.</Parameter>
+				<Parameter>[0]</Parameter>
+				<Parameter>[1]</Parameter>
+			</Format>
+			<Format Name="32bitView" Preview="%x (%u)">
+				<Printf>0x%08x (%u)</Printf>
+				<Parameter>.</Parameter>
+				<Parameter>.</Parameter>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN2B</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataIn1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<Comment>
+					<![CDATA[Encoder Status 4 (automatically linked):
+0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+]]>
+				</Comment>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDcInputTime</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>288</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{55728D3F-7B02-4448-8096-580617CECBA3}">NCENCODERSTRUCT_IN</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataOut1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{5FE34D39-3B85-4458-8264-8C4874D8985C}">NCENCODERSTRUCT_OUT</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_IN2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataIn1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<Comment>
+					<![CDATA[Drive Status 4 (automatically linked):
+0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+
+Drive Status 4 (manually linked):
+0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
+]]>
+				</Comment>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDcOutputTime</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{9AC463DC-3417-4DEA-AD2A-5FBD4C9C15AA}">NCDRIVESTRUCT_IN</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_OUT2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataOut1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{595E16A9-7783-4B1C-A30C-48BA6EFCC859}">NCDRIVESTRUCT_OUT</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">PLCTONC_AXIS_REF_CTRL</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Enable</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnablePlus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnableMinus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingSensor</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AcceptBlockedDrive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>30</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>31</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
+			<BitSize>1024</BitSize>
+			<SubItem>
+				<Name>ControlDWord</Name>
+				<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Override</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeRequest</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeDWord</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeLReal</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PositionCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>320</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>384</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>448</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtControllerOutput</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>512</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio1</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>576</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio2</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>640</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio3</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>704</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio4</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>768</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>MapState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>832</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleControl</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>840</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleCount</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>848</BitOffs>
+			</SubItem>
+			<Properties>
+				<Property>
+					<Name>NcStructType</Name>
+					<Value>1</Value>
+				</Property>
+			</Properties>
+			<Relations>
+				<Relation Priority="100">
+					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
+				</Relation>
+			</Relations>
+		</DataType>
 		<DataType>
 			<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
 			<BitSize>32</BitSize>
@@ -700,184 +1320,6 @@ External Setpoint Generation:
 				</Relation>
 			</Relations>
 		</DataType>
-		<DataType>
-			<Name GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">PLCTONC_AXIS_REF_CTRL</Name>
-			<BitSize>32</BitSize>
-			<SubItem>
-				<Name>Enable</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>0</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>FeedEnablePlus</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>1</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>FeedEnableMinus</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>2</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>HomingSensor</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>5</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AcceptBlockedDrive</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>8</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PlcDebugFlag</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>30</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>NcDebugFlag</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>31</BitOffs>
-			</SubItem>
-			<Format Name="Short">
-				<Printf>%08x</Printf>
-			</Format>
-			<Format Name="Cpp">
-				<Printf>0x%08x</Printf>
-			</Format>
-			<Format Name="IEC">
-				<Printf>16#%08X</Printf>
-			</Format>
-		</DataType>
-		<DataType>
-			<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
-			<BitSize>1024</BitSize>
-			<SubItem>
-				<Name>ControlDWord</Name>
-				<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>0</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>Override</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>32</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AxisModeRequest</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>64</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AxisModeDWord</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>96</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AxisModeLReal</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>128</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PositionCorrection</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>192</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetPos</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>256</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetVelo</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>320</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetAcc</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>384</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetDirection</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>448</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtControllerOutput</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>512</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio1</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>576</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio2</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>640</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio3</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>704</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio4</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>768</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>MapState</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
-				<BitSize>8</BitSize>
-				<BitOffs>832</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PlcCycleControl</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
-				<BitSize>8</BitSize>
-				<BitOffs>840</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PlcCycleCount</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
-				<BitSize>8</BitSize>
-				<BitOffs>848</BitOffs>
-			</SubItem>
-			<Properties>
-				<Property>
-					<Name>NcStructType</Name>
-					<Value>1</Value>
-				</Property>
-			</Properties>
-			<Relations>
-				<Relation Priority="100">
-					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
-				</Relation>
-			</Relations>
-		</DataType>
 	</DataTypes>
 	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
@@ -912,6 +1354,231 @@ External Setpoint Generation:
 				<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
 					<Name>NC-Task 1 SVB</Name>
 				</SvbTask>
+				<Axis CreateSymbols="true" AxisType="1" Id="1">
+					<Name>Axis 1</Name>
+					<AxisPara>
+						<OtherSettings AllowMotionCmdToSlave="true"/>
+					</AxisPara>
+					<Encoder Name="Enc" EncType="1">
+						<Vars VarGrpType="1">
+							<Name>Inputs</Name>
+							<Var>
+								<Name>In</Name>
+								<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
+								<BitOffs>1024</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nState4</Name>
+									<Comment>
+										<![CDATA[Encoder Status 4 (automatically linked):
+0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+]]>
+									</Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn6</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn7</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+						<Vars VarGrpType="2">
+							<Name>Outputs</Name>
+							<Var>
+								<Name>Out</Name>
+								<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
+								<BitOffs>2048</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut2</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+					</Encoder>
+					<Drive Name="Drive" DrvType="5">
+						<DrvPara>
+							<Analog ScaleFactorActTorque="0.1"/>
+						</DrvPara>
+						<Vars VarGrpType="1">
+							<Name>Inputs</Name>
+							<Var>
+								<Name>In</Name>
+								<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
+								<BitOffs>1344</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nState4</Name>
+									<Comment>
+										<![CDATA[Drive Status 4 (automatically linked):
+0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+
+Drive Status 4 (manually linked):
+0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
+]]>
+									</Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+						<Vars VarGrpType="2">
+							<Name>Outputs</Name>
+							<Var>
+								<Name>Out</Name>
+								<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
+								<BitOffs>2368</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nCtrl2</Name>
+									<Comment>
+										<![CDATA[Digital Outputs Setpoint Generator:
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]>
+									</Comment>
+								</SubVar>
+								<SubVar>
+									<Name>nCtrl3</Name>
+									<Comment>
+										<![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]>
+									</Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+					</Drive>
+					<Controller Name="Ctrl" CtrType="1">
+						<CtrPara PriorControlFactor="1">
+							<Observer BandWidth="20"/>
+						</CtrPara>
+					</Controller>
+					<Vars VarGrpType="1" InsertType="1">
+						<Name>Inputs</Name>
+						<Var>
+							<Name>FromPlc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+						</Var>
+					</Vars>
+					<Vars VarGrpType="2" InsertType="1">
+						<Name>Outputs</Name>
+						<Var>
+							<Name>ToPlc</Name>
+							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+							<SubVar>
+								<Name>AxisState</Name>
+								<Comment>
+									<![CDATA[Present State Of The Axis Movement (continuous axis):
+0  = INACTIVE:		axis has no job
+1  = RUNNING:		axis is executing a motion job
+2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
+3  = PHASE_VELOCONST:	axis is moving at constant velocity
+4  = PHASE_ACCPOS:	axis is accelerating
+5  = PHASE_ACCNEG:	axis is decelerating
+Slaves only:
+11 = PREPHASE:		slave axis is in a motion pre-phase
+12 = SYNCHRONIZING:	slave axis is synchronizing
+13 = SYNCHRONOUS:	slave axis is moving synchronously
+External Setpoint Generation:
+41 = EXTSETGEN_MODE1:	external setpoint generation active
+42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
+]]>
+								</Comment>
+							</SubVar>
+							<SubVar>
+								<Name>HomingState</Name>
+								<Comment>
+									<![CDATA[Axis Homing Status:
+0: idle
+1: start homing
+2: searching home switch
+3: stopping on home switch
+4: moving off home switch
+5: searching sync pulse
+6: stopping after homing
+]]>
+								</Comment>
+							</SubVar>
+							<SubVar>
+								<Name>CoupleState</Name>
+								<Comment>
+									<![CDATA[Axis Coupling Status:
+0: axis is a single axis (not coupled)
+1: axis is a master axis
+2: axis is master and slave
+3: axis is a slave axis
+]]>
+								</Comment>
+							</SubVar>
+						</Var>
+					</Vars>
+				</Axis>
 			</NC>
 		</Motion>
 		<Plc>
@@ -1190,8 +1857,15 @@ External Setpoint Generation:
 				</Instance>
 			</Project>
 		</Plc>
+		<Io/>
 	</Project>
 	<Mappings>
 		<MappingInfo Identifier="{05000010-2041-0850-3000-040340205008}" Id="#x02030010" Watchdog="04000000080000000400000004000000"/>
+		<OwnerA Name="TIPC^tc_project_app^tc_project_app Instance">
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
+				<Link VarA="PlcTask Inputs^GVL.axes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.axes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
+		</OwnerA>
 	</Mappings>
 </TcSmProject>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 7eb9579..bfbadab 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 7eb9579e91cf77fdfd45fa3ccad081f4a57bd07c
+Subproject commit bfbadab0f756cf88f962d6f947ffcf968203697e