diff --git a/.vs/CouplingProject/v15/.suo b/.vs/CouplingProject/v15/.suo
index 79ea84e..79ab348 100644
Binary files a/.vs/CouplingProject/v15/.suo and b/.vs/CouplingProject/v15/.suo differ
diff --git a/CouplingProject.project.~u b/CouplingProject.project.~u
index 49c4d84..9908817 100644
--- a/CouplingProject.project.~u
+++ b/CouplingProject.project.~u
@@ -1,4 +1,4 @@
 berti_r
 PC16663
-7268
-638917285878627234
+32536
+638925896480173103
diff --git a/CouplingProject/CouplingProject.tsproj.bak b/CouplingProject/CouplingProject.tsproj.bak
index fdb8a08..772165e 100644
--- a/CouplingProject/CouplingProject.tsproj.bak
+++ b/CouplingProject/CouplingProject.tsproj.bak
@@ -2215,10 +2215,6 @@ External Setpoint Generation:
 					<Encoder Name="Enc" EncType="29">
 						<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000000" MaxCount="#xffffffff">
 							<Inc RefSoftSyncMask="#xffffffff"/>
-							<ParameterChanged>36</ParameterChanged>
-							<ParameterChanged>21</ParameterChanged>
-							<ParameterChanged>35</ParameterChanged>
-							<ParameterChanged>264</ParameterChanged>
 						</EncPara>
 						<Vars VarGrpType="1">
 							<Name>Inputs</Name>
diff --git a/CouplingProject/Untitled1/_CompileInfo/4A1430BA-536E-E928-A19E-8BDF5E9BEFE1.compileinfo b/CouplingProject/Untitled1/_CompileInfo/4A1430BA-536E-E928-A19E-8BDF5E9BEFE1.compileinfo
deleted file mode 100644
index cd18fc3..0000000
Binary files a/CouplingProject/Untitled1/_CompileInfo/4A1430BA-536E-E928-A19E-8BDF5E9BEFE1.compileinfo and /dev/null differ
diff --git a/CouplingProject/Untitled1/_CompileInfo/4D338A48-90CA-F6A9-B882-00A2E632FB2B.compileinfo b/CouplingProject/Untitled1/_CompileInfo/4D338A48-90CA-F6A9-B882-00A2E632FB2B.compileinfo
new file mode 100644
index 0000000..7407da4
Binary files /dev/null and b/CouplingProject/Untitled1/_CompileInfo/4D338A48-90CA-F6A9-B882-00A2E632FB2B.compileinfo differ
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.tszip b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.tszip
index d435724..969fda2 100644
Binary files a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.tszip and b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.tszip differ
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.xml b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.xml
index 9cc6694..7f1f388 100644
--- a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.xml	
+++ b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.xml	
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<TcBootProject CreateTime="2025-08-25T14:58:48">
+<TcBootProject CreateTime="2025-09-04T15:31:16">
 	<System>
 		<LockedMemSize>33554432</LockedMemSize>
 		<AffinityMask>#x1</AffinityMask>
@@ -112,14 +112,14 @@
 			<port>10</port>
 			<iGrp>3</iGrp>
 			<iOffs>0</iOffs>
-			<data>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</data>
+			<data>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</data>
 		</InitCmd>
 		<InitCmd>
 			<key>Init10\IO: Create TComObj PREOP</key>
 			<port>10</port>
 			<iGrp>3</iGrp>
 			<iOffs>0</iOffs>
-			<data>0400020300000000f000000000000064300008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20273c756e7265666572656e6365643e27000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000f0000000e40000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb20203040000000000000000000000023202030400000020000403000000000332020320000000080002030000000009000203000000000a000203000000000f00020300000000000000000432020308000000952f0000942f000000000000053202031000000038000000420000004400000096000000000000000632020304000000b02f0000000000000732020304000000a00000000000000009b202030400000000000000000000000fb202030a0000003c64656661756c743e000000</data>
+			<data>0400020300000000f000000000000064400008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20273c756e7265666572656e6365643e27000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000f0000000e40000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb20203040000000000000000000000023202030400000020000403000000000332020320000000080002030000000009000203000000000a000203000000000f00020300000000000000000432020308000000952f0000942f000000000000053202031000000038000000420000004400000096000000000000000632020304000000b02f0000000000000732020304000000a00000000000000009b202030400000000000000000000000fb202030a0000003c64656661756c743e000000</data>
 			<message>Create EtherCAT SyncUnit &lt;unreferenced&gt; (set to PREOP)</message>
 		</InitCmd>
 		<InitCmd>
@@ -127,7 +127,7 @@
 			<port>10</port>
 			<iGrp>3</iGrp>
 			<iOffs>0</iOffs>
-			<data>0400020300000000f000000000000064400008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20274e432d5461736b203120534146270000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000008010000fc0000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb20203040000001000000500000000023202030400000020000403000000000332020330000000060002030000000007000203000000000b000203000000000c000203000000000d000203000000000e00020300000000000000000432020308000000952f0000932f0000000000000532020318000000240000002e000000460000005a0000006e00000082000000000000000632020304000000b12f0000000000000732020304000000a80000000000000009b202030400000000000000000000000fb202030a0000003c64656661756c743e000000</data>
+			<data>0400020300000000f000000000000064300008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20274e432d5461736b203120534146270000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000008010000fc0000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb20203040000001000000500000000023202030400000020000403000000000332020330000000060002030000000007000203000000000b000203000000000c000203000000000d000203000000000e00020300000000000000000432020308000000952f0000932f0000000000000532020318000000240000002e000000460000005a0000006e00000082000000000000000632020304000000b12f0000000000000732020304000000a80000000000000009b202030400000000000000000000000fb202030a0000003c64656661756c743e000000</data>
 			<message>Create EtherCAT SyncUnit NC-Task 1 SAF (set to PREOP)</message>
 		</InitCmd>
 		<InitCmd>
@@ -423,7 +423,7 @@
 			<port>10</port>
 			<iGrp>256</iGrp>
 			<iOffs>0</iOffs>
-			<data>300008030400000000000000</data>
+			<data>400008030400000000000000</data>
 			<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to SAFEOP)</message>
 		</InitCmd>
 		<InitCmd>
@@ -431,7 +431,7 @@
 			<port>10</port>
 			<iGrp>256</iGrp>
 			<iOffs>0</iOffs>
-			<data>400008030400000000000000</data>
+			<data>300008030400000000000000</data>
 			<message>EtherCAT SyncUnit NC-Task 1 SAF (set to SAFEOP)</message>
 		</InitCmd>
 		<InitCmd>
@@ -594,7 +594,7 @@
 			<port>10</port>
 			<iGrp>256</iGrp>
 			<iOffs>0</iOffs>
-			<data>300008030800000000000000</data>
+			<data>400008030800000000000000</data>
 			<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to OP)</message>
 		</InitCmd>
 		<InitCmd>
@@ -602,7 +602,7 @@
 			<port>10</port>
 			<iGrp>256</iGrp>
 			<iOffs>0</iOffs>
-			<data>400008030800000000000000</data>
+			<data>300008030800000000000000</data>
 			<message>EtherCAT SyncUnit NC-Task 1 SAF (set to OP)</message>
 		</InitCmd>
 		<InitCmd>
@@ -674,7 +674,7 @@
 			<key>Init31\NC: Download Config Id</key>
 			<port>500</port>
 			<cmdId>254</cmdId>
-			<data>e4b59129</data>
+			<data>44ae9129</data>
 			<message>Configuration Id downloaded</message>
 		</InitCmd>
 		<InitCmd>
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip
index eb5317f..bf4718c 100644
Binary files a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip and b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip differ
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.app b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.app
index 12ba74b..5e2a556 100644
Binary files a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.app and b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.app differ
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.cid b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.cid
index e9c681e..19d075b 100644
Binary files a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.cid and b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.cid differ
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.crc b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.crc
index 70862eb..a70f1e6 100644
Binary files a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.crc and b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.crc differ
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.occ b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.occ
index e69de29..6a80c18 100644
Binary files a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.occ and b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851.occ differ
diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851_boot.tizip b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851_boot.tizip
index 0631d3d..a1ab21b 100644
Binary files a/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851_boot.tizip and b/CouplingProject/_Boot/TwinCAT RT (x64)/Plc/Port_851_boot.tizip differ