diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index b3869ae..233216c 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -17,7 +17,23 @@
 			<NC File="NC.xti"/>
 		</Motion>
 		<Plc>
-			<Project File="tc_project_app.xti"/>
+			<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="tc_project_app\tc_project_app.plcproj" TmcFilePath="tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
+				<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
+					<Name>tc_project_app Instance</Name>
+					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
+					<Vars VarGrpType="2">
+						<Name>PlcTask Outputs</Name>
+						<Var>
+							<Name>MAIN.bOutput1</Name>
+							<Comment><![CDATA[Outputs: Power for Limit switches and Home Sensors (every 4th output)]]></Comment>
+							<Type>BOOL</Type>
+						</Var>
+					</Vars>
+					<TaskPouOids>
+						<TaskPouOid Prio="20" OTCID="#x08502041"/>
+					</TaskPouOids>
+				</Instance>
+			</Project>
 		</Plc>
 		<Io>
 			<Device File="Device 1 (EtherCAT).xti" Id="1"/>
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index fd8f331..192d2f6 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -10,31 +10,11 @@
               <v n="TextDefault">"%2.2f"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"165"</v>
-              <v n="TextDefault">"%2.3f"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"543"</v>
               <v n="TextDefault">"%2.4f"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"878"</v>
-              <v n="TextDefault">"%d"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"294"</v>
-              <v n="TextDefault">"%f"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"706"</v>
-              <v n="TextDefault">"%i"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"821"</v>
               <v n="TextDefault">"%s"</v>
@@ -45,16 +25,6 @@
               <v n="TextDefault">"%x"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"703"</v>
-              <v n="TextDefault">"Acknowledge"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"710"</v>
-              <v n="TextDefault">"Active:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"952"</v>
               <v n="TextDefault">"actPos"</v>
@@ -85,6 +55,16 @@
               <v n="TextDefault">"bBwEnabled"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"633"</v>
+              <v n="TextDefault">"bCoammandAborted"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"225"</v>
+              <v n="TextDefault">"bCommandAborted"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"946"</v>
               <v n="TextDefault">"bDone"</v>
@@ -120,74 +100,9 @@
               <v n="TextDefault">"bHomed"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"947"</v>
-              <v n="TextDefault">"bResetDone"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"693"</v>
-              <v n="TextDefault">"bSet"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"944"</v>
-              <v n="TextDefault">"bWarning"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"704"</v>
-              <v n="TextDefault">"Clear All"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"712"</v>
-              <v n="TextDefault">"eHomeBwdLimit"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"530"</v>
-              <v n="TextDefault">"eHomeBwdToEncRef"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"386"</v>
-              <v n="TextDefault">"eHomeBwdToEncRef2speed"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"341"</v>
-              <v n="TextDefault">"eHomeBwdToEncRef2speeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"387"</v>
-              <v n="TextDefault">"eHomeBwdToLimit2speeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"964"</v>
-              <v n="TextDefault">"eHomeBwdToRef"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"35"</v>
-              <v n="TextDefault">"eHomeBwdToRef2speeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"650"</v>
-              <v n="TextDefault">"eHomeBwdToReference"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"480"</v>
-              <v n="TextDefault">"eHomeBwdToReference2speed"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"339"</v>
-              <v n="TextDefault">"eHomeBwdToReference2speeds"</v>
+              <v n="TextDefault">"bCommandAborted"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
             <o>
@@ -195,56 +110,6 @@
               <v n="TextDefault">"ehomeDirect"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"328"</v>
-              <v n="TextDefault">"eHomeFwdToEncRef"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"125"</v>
-              <v n="TextDefault">"eHomeFwdToEncRef2speeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"484"</v>
-              <v n="TextDefault">"eHomeFwdToEncRef_viaFwdLimit"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"374"</v>
-              <v n="TextDefault">"eHomeFwdToLimit"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"851"</v>
-              <v n="TextDefault">"eHomeFwdToLimit2speeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"693"</v>
-              <v n="TextDefault">"eHomeBwdToLimit"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"489"</v>
-              <v n="TextDefault">"eHomeBwdToLimit2speeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"445"</v>
-              <v n="TextDefault">"eHomeBwdToLimitspeeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"637"</v>
-              <v n="TextDefault">"eHomeFwdToLimit"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"351"</v>
-              <v n="TextDefault">"eHomeFwdToLimit2speeds"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"198"</v>
               <v n="TextDefault">"eHomeToEncPulse_Bwd"</v>
@@ -265,36 +130,6 @@
               <v n="TextDefault">"eHomeToEncPulse_viaFwdLimit"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"535"</v>
-              <v n="TextDefault">"eHomeToEncRefBwd"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"367"</v>
-              <v n="TextDefault">"eHomeToEncRefFwd"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"358"</v>
-              <v n="TextDefault">"eHomeToEncRef_viaBwdLimi"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"740"</v>
-              <v n="TextDefault">"eHomeToEncRef_viaBwdLimit"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"689"</v>
-              <v n="TextDefault">"eHomeToLimitBwd"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"504"</v>
-              <v n="TextDefault">"eHomeToLimitFwd"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"312"</v>
               <v n="TextDefault">"eHomeToLimit_Bwd"</v>
@@ -305,16 +140,6 @@
               <v n="TextDefault">"eHomeToLimit_Fwd"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"432"</v>
-              <v n="TextDefault">"eHomeToRefBwd"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"285"</v>
-              <v n="TextDefault">"eHomeToRefFwd"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"150"</v>
               <v n="TextDefault">"eHomeToRef_Bwd"</v>
@@ -351,23 +176,8 @@
               <l n="LanguageTexts" t="ArrayList" />
             </o>
             <o>
-              <v n="TextID">"701"</v>
-              <v n="TextDefault">"Error #"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"705"</v>
-              <v n="TextDefault">"Error #:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"702"</v>
-              <v n="TextDefault">"Error Log"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"707"</v>
-              <v n="TextDefault">"Errors:"</v>
+              <v n="TextID">"768"</v>
+              <v n="TextDefault">"eWriteParameter"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
             <o>
@@ -415,11 +225,6 @@
               <v n="TextDefault">"fReadAxisParameter"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"708"</v>
-              <v n="TextDefault">"Free Entries:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"954"</v>
               <v n="TextDefault">"fVelocity"</v>
@@ -460,11 +265,6 @@
               <v n="TextDefault">"homeSensorPos"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"711"</v>
-              <v n="TextDefault">"Inactive:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"116"</v>
               <v n="TextDefault">"jogBw"</v>
@@ -505,16 +305,6 @@
               <v n="TextDefault">"nIndex"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"709"</v>
-              <v n="TextDefault">"Overflows:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"993"</v>
-              <v n="TextDefault">"Read"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"942"</v>
               <v n="TextDefault">"reset"</v>
@@ -566,4 +356,4 @@
       </TypeList>
     </XmlArchive>
   </GlobalTextList>
-</TcPlcObject>
\ No newline at end of file
+</TcPlcObject>
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
index 5c7c306..29730bc 100644
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -13,37 +13,37 @@ END_VAR]]></Declaration>
     <Method Name="mDisableAxis" Id="{22a3dd98-69f0-4b92-8109-1b0c2fe2344d}">
       <Declaration><![CDATA[METHOD mDisableAxis: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
       <Declaration><![CDATA[METHOD mEnableAxis: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
       <Declaration><![CDATA[METHOD mExecute: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mExecute_SetFALSE" Id="{cc074392-b19d-414a-9010-72a4fa4d5f7a}">
       <Declaration><![CDATA[METHOD mExecute_SetFALSE: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mGearOut" Id="{65c5860b-0759-45a5-a8a4-27fe9453aa76}">
@@ -60,28 +60,28 @@ END_VAR
       <Declaration><![CDATA[METHOD mPrepareDefaultMove
 
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[//Prepare an axis so it is ready to action a move using target defaults when executed.
 
-GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;
-GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
+GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;
+GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
-GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
 
-GVL.astAxes[iAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
-GVL.astAxes[iAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
-GVL.astAxes[iAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
-GVL.astAxes[iAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
-GVL.astAxes[iAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
+GVL.astAxes[nAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
+GVL.astAxes[nAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
+GVL.astAxes[nAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
+GVL.astAxes[nAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
+GVL.astAxes[nAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareGearInMultiMaster" Id="{b94784af-8414-4f79-a0cd-7d3b82710c1e}">
       <Declaration><![CDATA[METHOD mPrepareGearInMultiMaster
 VAR_INPUT
-    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    nAxisIndex: UINT;  // The idex of the axis to action the method on.
     astGearAxis: ARRAY[1..4] OF ST_GearAxis;
 END_VAR
 VAR
@@ -89,30 +89,30 @@ VAR
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Prepare the axis so it is ready to be coupled
-GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
+GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
 FOR i:= 1 TO tcUNIT_GVL.nMAX_MASTERS DO
-    GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
-    GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
+    GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
+    GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
 END_FOR]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareHome" Id="{29a1cce2-2fc4-48e1-86f6-27b6dd699cd2}">
       <Declaration><![CDATA[METHOD mPrepareHome
 VAR_INPUT
-    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    nAxisIndex: UINT;  // The idex of the axis to action the method on.
     eHomingRoutine: E_HomingRoutines;
 END_VAR
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
-GVL.astAxes[iAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
+GVL.astAxes[nAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
       <Declaration><![CDATA[METHOD mPrepareMove
 
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
     fTargetVelocity: LREAL;
     fTargetAcceleration: LREAL;
     fTargetDeceleration: LREAL;
@@ -122,22 +122,22 @@ END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[//Prepare the axis so it is ready to action a move when executed for a given motion strategy.
 
-GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
-GVL.astAxes[iAxisIndex].stControl.eCommand := eMotionStrategy;
+GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[nAxisIndex].stControl.eCommand := eMotionStrategy;
 
-GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
-GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
 
-GVL.astAxes[iAxisIndex].stConfig.fVelocity := fTargetVelocity;
-GVL.astAxes[iAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
-GVL.astAxes[iAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
-GVL.astAxes[iAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
+GVL.astAxes[nAxisIndex].stConfig.fVelocity := fTargetVelocity;
+GVL.astAxes[nAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
+GVL.astAxes[nAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
+GVL.astAxes[nAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mReset" Id="{59e8bfe4-ab50-4ad3-9095-95e359837091}">
       <Declaration><![CDATA[METHOD mReset : BOOL
 VAR_INPUT
-    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    nAxisIndex: UINT;  // The idex of the axis to action the method on.
 END_VAR
 VAR
     iCycles: UINT;
@@ -145,10 +145,10 @@ VAR
 END_VAR
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
 FOR iCycles:= 1 TO iMaxCycles DO
-    GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
-    IF GVL.astaxes[iAxisIndex].stStatus.bError := FALSE THEN
+    GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
+    IF GVL.astaxes[nAxisIndex].stStatus.bError := FALSE THEN
         EXIT;
     END_IF
 END_FOR]]></ST>
@@ -158,39 +158,39 @@ END_FOR]]></ST>
       <Declaration><![CDATA[METHOD mSetAxisDefaults
 
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
 
-IF GVL.astAxes[iAxisIndex].stStatus.bBusy THEN
-    GVL.astAxes[iAxisIndex].stControl.bStop := TRUE;
+IF GVL.astAxes[nAxisIndex].stStatus.bBusy THEN
+    GVL.astAxes[nAxisIndex].stControl.bStop := TRUE;
 END_IF
-IF GVL.astAxes[iAxisIndex].stStatus.bError THEN
-    GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
+IF GVL.astAxes[nAxisIndex].stStatus.bError THEN
+    GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
 END_IF
-IF NOT GVL.astAxes[iAxisIndex].stControl.bEnable AND GVL.astAxes[iAxisIndex].stControl.bStop THEN
-    GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
+IF NOT GVL.astAxes[nAxisIndex].stControl.bEnable AND GVL.astAxes[nAxisIndex].stControl.bStop THEN
+    GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
 END_IF
 
-GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
-GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
-GVL.astAxes[iAxisIndex].stControl.bReset := FALSE;
-GVL.astAxes[iAxisIndex].stControl.bJogFwd := FALSE;
-GVL.astAxes[iAxisIndex].stControl.bJogBwd := FALSE;
-GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
-GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
+GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bReset := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bJogFwd := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bJogBwd := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
+GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-GVL.astAxes[iAxisIndex].stConfig.fVelocity := 0.0;
-GVL.astAxes[iAxisIndex].stConfig.fAcceleration := 0.0;
-GVL.astAxes[iAxisIndex].stConfig.fDeceleration := 0.0;
-GVL.astAxes[iAxisIndex].stConfig.fPosition := 0;
-GVL.astAxes[iAxisIndex].stConfig.fOverride := 0.0;
-GVL.astAxes[iAxisIndex].stConfig.eHomeSeq := 0;
+GVL.astAxes[nAxisIndex].stConfig.fVelocity := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.fAcceleration := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.fDeceleration := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.fPosition := 0;
+GVL.astAxes[nAxisIndex].stConfig.fOverride := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.eHomeSeq := 0;
 
-GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := FALSE;
-GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := FALSE;
-GVL.astAxes[iAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
+GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := FALSE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := FALSE;
+GVL.astAxes[nAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
       </Implementation>
     </Method>
     <LineIds Name="FB_tcUNIT_common">
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
index e63f527..c8abbf3 100644
--- a/solution/tc_project_app/Visualization Manager.TcVMO	
+++ b/solution/tc_project_app/Visualization Manager.TcVMO	
@@ -37,6 +37,7 @@
             <v n="GuidShowChangeConfigDialogFunction">{00000000-0000-0000-0000-000000000000}</v>
             <v n="UseStandardKeyboardHandling">true</v>
             <v n="PaintDeactiveElementsGrayedOut">true</v>
+            <n n="GlobalOpenNumpadKeypadSettings" />
             <v n="ConvertImages">false</v>
             <v n="ConversionType">""</v>
           </o>
@@ -511,6 +512,7 @@
           <n n="FontsConfig" />
           <n n="FontDownloadConfig" />
           <n n="VisuInitializationCode" />
+          <n n="FontSettings" />
           <v n="GuidVisuSettingsPou">{925c2b24-84d1-469a-954d-7af8b99219ef}</v>
           <v n="GuidVisuSettingsPouInit">{f905b871-af16-47c5-a6ef-0a0918a8b009}</v>
           <v n="GuidVisuSettingsPouReInit">{d3706fa7-8257-48b3-af0a-cab0afb4dc49}</v>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 8589564..8b967a8 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 85895649602f3d59104d07ceda240aeb6ca47227
+Subproject commit 8b967a89167617173e16ab9a6a9b0b3e47608ab2
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 4bbf97c..58fbb44 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -30,6 +30,9 @@
     <Compile Include="POUs\MAIN.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_AxisParameters.TcTLEO">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\E_HomingRoutines.TcTLEO">
       <SubType>Code</SubType>
     </Compile>
@@ -60,6 +63,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisDescription.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisError.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisInputs.TcDUT">
       <SubType>Code</SubType>
     </Compile>
@@ -78,24 +84,9 @@
     <Compile Include="tc_mca_std_lib\GVLs\GVL.TcGVL">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_ReadFloatParameter.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_ReadParameterInNc_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_WriteFloatParameter.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_WriteParameterInNc_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_ReadNcVelocities.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -137,15 +128,14 @@
   <ItemGroup>
     <Folder Include="DUTs" />
     <Folder Include="GVLs" />
+    <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
     <Folder Include="tc_mca_std_lib\VISUs" />
     <Folder Include="Test" />
     <Folder Include="tc_mca_std_lib" />
     <Folder Include="tc_mca_std_lib\DUTs" />
     <Folder Include="tc_mca_std_lib\GVLs" />
     <Folder Include="tc_mca_std_lib\POUs" />
-    <Folder Include="tc_mca_std_lib\POUs\ChangeConfig" />
     <Folder Include="tc_mca_std_lib\POUs\Motion" />
-    <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
     <Folder Include="Test\app_tests" />
     <Folder Include="Test\common" />
     <Folder Include="Test\standard_library_tests" />