diff --git a/solution/Licenses/ReadMe_licenses.txt b/solution/Licenses/ReadMe_licenses.txt
new file mode 100644
index 0000000..79e6b36
--- /dev/null
+++ b/solution/Licenses/ReadMe_licenses.txt
@@ -0,0 +1,5 @@
+Copy and paste in this folder the licenses contained inside the Beckhoff CPU in the path:
+
+C:\TwinCAT\3.1\Target\License 
+
+Thank you
\ No newline at end of file
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 75d2c60..5a083bc 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1143,6 +1143,46 @@ External Setpoint Generation:
 								</Comment>
 							</SubVar>
 						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_1_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_2_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_3_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_4_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_5_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_6_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_7_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.Channel_8_Input</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.WcState_WcState</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.fbEL1808.InfoData_State</Name>
+							<Type>UINT</Type>
+						</Var>
 					</Vars>
 					<Vars VarGrpType="2">
 						<Name>PlcTask Outputs</Name>
@@ -1171,15 +1211,6 @@ bHomeSensor8 AT %I*: BOOL;
 							</Comment>
 							<Type>BOOL</Type>
 						</Var>
-						<Var>
-							<Name>MAIN.bOutput5</Name>
-							<Comment>
-								<![CDATA[bOutput2 AT %Q*: BOOL:= TRUE;
-bOutput3 AT %Q*: BOOL:= TRUE;
-bOutput4 AT %Q*: BOOL:= TRUE;]]>
-							</Comment>
-							<Type>BOOL</Type>
-						</Var>
 						<Var>
 							<Name>MAIN.M1Link.Axis.PlcToNc</Name>
 							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
@@ -1196,6 +1227,15 @@ bOutput4 AT %Q*: BOOL:= TRUE;]]>
 							<Name>MAIN.M2.MasterAxis.PlcToNc</Name>
 							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 						</Var>
+						<Var>
+							<Name>MAIN.bOutput5</Name>
+							<Comment>
+								<![CDATA[bOutput2 AT %Q*: BOOL:= TRUE;
+bOutput3 AT %Q*: BOOL:= TRUE;
+bOutput4 AT %Q*: BOOL:= TRUE;]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
 					</Vars>
 					<TaskPouOids>
 						<TaskPouOid Prio="20" OTCID="#x08502041"/>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 46718c2..35ae024 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -67,13 +67,25 @@ VAR
 	//bOutput21 AT %Q*: BOOL:= TRUE;
 	//bOutput24 AT %Q*: BOOL:= TRUE;
 	//bOutput28 AT %Q*: BOOL:= TRUE; 
+	
+(******Error Handling********)
+	fbErrorList: FB_ErrorList;
+	//fbEL3214: EL3214;
+	fbEL1808: EL1808;
+	//fbEL2819: EL2819;
+	//fbEL9410: EL9410;
+	
+(*******New and specific application variables*********)
+
 END_VAR
 
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[ACT();]]></ST>
+      <ST><![CDATA[PROG();
+AXES();
+ERROR();]]></ST>
     </Implementation>
-    <Action Name="ACT" Id="{240e8099-f921-46d2-bfb2-289ee76e4611}">
+    <Action Name="AXES" Id="{240e8099-f921-46d2-bfb2-289ee76e4611}">
       <Implementation>
         <NWL>
           <XmlArchive>
@@ -1773,8 +1785,68 @@ END_VAR
         </NWL>
       </Implementation>
     </Action>
+    <Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
+      <Implementation>
+        <ST><![CDATA[//
+(****FB containting the log of the errors****)
+//
+fbErrorList(
+	En:= TRUE, 
+	bReset:= , 
+	lErrorID:= , 
+	bACK:= , 
+	EnO=> , 
+	nNoError=> , 
+	nNoOverflow=> , 
+	pErrorSystem=> );
+	
+(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
+ add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and 
+the variable "fbErrorList.pErrorSystem" to the input ErrorSystem in each FB E. g. : 
+fbEL1808(
+	En:= TRUE, 
+	iTerminal_ID:= 1, 
+	ErrorSystem:= fbErrorList.pErrorSystem, 
+	EnO=> , 
+	bDi_1=> , 
+	bDi_2=> , 
+	bDi_3=> , 
+	bDi_4=> , 
+	bDi_5=> , 
+	bDi_6=> , 
+	bDi_7=> , 
+	bDi_8=> , 
+	bError=> );      *)
+//
+]]></ST>
+      </Implementation>
+    </Action>
+    <Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
+      <Implementation>
+        <ST><![CDATA[//
+(* Program any sequence, safety or feature (if necessary) application specific in thsi section*)
+//]]></ST>
+      </Implementation>
+    </Action>
     <LineIds Name="MAIN">
       <LineId Id="2" Count="0" />
+      <LineId Id="81" Count="1" />
+    </LineIds>
+    <LineIds Name="MAIN.ERROR">
+      <LineId Id="31" Count="0" />
+      <LineId Id="10" Count="1" />
+      <LineId Id="2" Count="7" />
+      <LineId Id="1" Count="0" />
+      <LineId Id="12" Count="1" />
+      <LineId Id="29" Count="1" />
+      <LineId Id="16" Count="12" />
+      <LineId Id="14" Count="0" />
+      <LineId Id="32" Count="1" />
+    </LineIds>
+    <LineIds Name="MAIN.PROG">
+      <LineId Id="2" Count="0" />
+      <LineId Id="1" Count="0" />
+      <LineId Id="3" Count="0" />
     </LineIds>
   </POU>
 </TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 2938caf..1fc0c8e 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -70,159 +70,27 @@
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\FB_CalculateFrequency_3702_v0_01.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\FB_EL3702_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\FB_EL3773_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\FB_EL3773_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1002.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1004.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1008.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1012.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1014.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1018.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1024.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1034.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1084.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1088.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1094.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1098.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1104.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1114.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1124.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1134.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1144.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1202.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1252.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1702.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1712.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1722.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1804.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1808.TcPOU">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1809.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1814.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1819.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1859.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1862.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1872.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1889.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\FB_EL1008_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\FB_EL1202_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\FB_EL1252ASM_v1_00.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2002.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2004.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2008.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2014.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2022.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2024.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2032.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2034.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2042.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2084.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2088.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2124.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2252.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2521_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2808.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -235,36 +103,6 @@
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types\dutEL2521_Status.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\EL1904_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\EL1908_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\EL2901_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\EL2902_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\EL2904_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\EL2964_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\EL6900_v0_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\FB_EL1904_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\FB_EL2904_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals\FB_EL6900_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Measuring_Terminals\EL5002.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -295,36 +133,36 @@
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_DriveVirtual.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeDirect.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeFinish.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomePrepare.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeReadNcVelocities.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeReadSoftLimEnable.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeToSwitch.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeVirtual.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeWriteNcVelocities.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeWriteSoftLimEnable.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_NcAxis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeDirect.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeFinish.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomePrepare.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadNcVelocities.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadSoftLimEnable.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeToSwitch.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeVirtual.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeWriteNcVelocities.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeWriteSoftLimEnable.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\VISUs\FbDriveVisual.TcVIS">
       <SubType>Code</SubType>
       <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
@@ -349,7 +187,6 @@
     <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs" />
     <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs" />
     <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\Safety_Terminals" />
     <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Measuring_Terminals" />
     <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Motion" />
     <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System" />
@@ -357,6 +194,7 @@
     <Folder Include="tc_mca_std_lib\POUs\Motion" />
     <Folder Include="tc_mca_std_lib\POUs\Hardware" />
     <Folder Include="tc_mca_std_lib\POUs\ErrorHandling" />
+    <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
     <Folder Include="tc_mca_std_lib\VISUs" />
     <Folder Include="VISUs" />
     <Folder Include="POUs" />
@@ -404,6 +242,10 @@
       <SystemLibrary>true</SystemLibrary>
       <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
     </PlaceholderReference>
+    <PlaceholderReference Include="Tc2_EtherCAT">
+      <DefaultResolution>Tc2_EtherCAT, * (Beckhoff Automation GmbH)</DefaultResolution>
+      <Namespace>Tc2_EtherCAT</Namespace>
+    </PlaceholderReference>
     <PlaceholderReference Include="Tc2_MC2">
       <DefaultResolution>Tc2_MC2, * (Beckhoff Automation GmbH)</DefaultResolution>
       <Namespace>Tc2_MC2</Namespace>
@@ -433,8 +275,8 @@
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>
-  <Data>
-    <o xml:space="preserve" t="OptionKey">
+        <Data>
+          <o xml:space="preserve" t="OptionKey">
       <v n="Name">"&lt;ProjectRoot&gt;"</v>
       <d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
         <v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -482,14 +324,14 @@
       </d>
       <d n="Values" t="Hashtable" />
     </o>
-  </Data>
-  <TypeList>
-    <Type n="Hashtable">System.Collections.Hashtable</Type>
-    <Type n="Int32">System.Int32</Type>
-    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-    <Type n="String">System.String</Type>
-  </TypeList>
-</XmlArchive>
+        </Data>
+        <TypeList>
+          <Type n="Hashtable">System.Collections.Hashtable</Type>
+          <Type n="Int32">System.Int32</Type>
+          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+          <Type n="String">System.String</Type>
+        </TypeList>
+      </XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>
\ No newline at end of file