diff --git a/.vs/VSWorkspaceState.json b/.vs/VSWorkspaceState.json
new file mode 100644
index 0000000..cd94782
--- /dev/null
+++ b/.vs/VSWorkspaceState.json
@@ -0,0 +1,8 @@
+{
+  "ExpandedNodes": [
+    "",
+    "\\solution",
+    "\\solution\\tc_project_app"
+  ],
+  "PreviewInSolutionExplorer": false
+}
\ No newline at end of file
diff --git a/.vs/slnx.sqlite b/.vs/slnx.sqlite
new file mode 100644
index 0000000..44ddce2
Binary files /dev/null and b/.vs/slnx.sqlite differ
diff --git a/solution/Lin_motion.tsproj b/solution/Lin_motion.tsproj
index 37267d6..5c83b7e 100644
--- a/solution/Lin_motion.tsproj
+++ b/solution/Lin_motion.tsproj
@@ -29,7 +29,7 @@
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
 			<BitSize>13</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -127,6 +127,74 @@
 				<Elements>10</Elements>
 			</ArrayInfo>
 		</DataType>
+		<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="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO" TcBaseType="true">ECAT_HEAD</Name>
+			<BitSize>80</BitSize>
+			<SubItem>
+				<Name>cmd</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>idx</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>addr</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>16</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>len</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>48</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>irq</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-001300000100}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..255] OF BYTE</Name>
+			<BitSize>2048</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>256</Elements>
+			</ArrayInfo>
+		</DataType>
 	</DataTypes>
 	<ImageDatas>
 		<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
@@ -137,7 +205,7 @@
 	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="5.67.222.118.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
 			<Settings MaxCpus="2">
-				<Cpu CpuId="1"/>
+				<Cpu CpuId="1" BaseTime="2500"/>
 				<IoIdleTask Priority="6"/>
 			</Settings>
 			<Tasks>
@@ -145,6 +213,10 @@
 					<Name>PlcTask</Name>
 				</Task>
 			</Tasks>
+			<Modules>
+				<AddClassFactory>Beckhoff Automation GmbH|TcBodePlot|1.1.5.0</AddClassFactory>
+				<AddClassFactory>Beckhoff Automation GmbH|TcNcObjects|3.1.0.4707</AddClassFactory>
+			</Modules>
 		</System>
 		<Motion>
 			<NC File="NC.xti"/>
@@ -1846,12 +1918,58 @@
 						<EtherCAT CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x23333050" InfoDataState="false" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9011 End Terminal" Desc="EL9011" PortABoxInfo="#x01000003"/>
 					</Box>
 				</Box>
-				<EtherCAT DcSyncMode="3"/>
+				<EtherCAT DcSyncMode="3">
+					<EtherCATCmd Id="1" CmdType="1" CmdData="0c0100002009000100000000030000000f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000">
+						<Name>Dyn Container</Name>
+						<ImageId>102</ImageId>
+						<Vars VarGrpType="1">
+							<Name>Inputs</Name>
+							<Var>
+								<Name>HEAD</Name>
+								<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
+								<BitOffs>968</BitOffs>
+							</Var>
+							<Var>
+								<Name>DATA</Name>
+								<Type GUID="{18071995-0000-0000-0000-001300000100}">ARRAY [0..255] OF BYTE</Type>
+								<BitOffs>1048</BitOffs>
+							</Var>
+							<Var>
+								<Name>CNT</Name>
+								<Comment><![CDATA[Working counter
+After receiving]]></Comment>
+								<Type>UINT</Type>
+								<BitOffs>3096</BitOffs>
+							</Var>
+						</Vars>
+						<Vars VarGrpType="2">
+							<Name>Outputs</Name>
+							<Var>
+								<Name>HEAD</Name>
+								<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
+								<BitOffs>968</BitOffs>
+							</Var>
+							<Var>
+								<Name>DATA</Name>
+								<Type GUID="{18071995-0000-0000-0000-001300000100}">ARRAY [0..255] OF BYTE</Type>
+								<BitOffs>1048</BitOffs>
+							</Var>
+							<Var>
+								<Name>CNT</Name>
+								<Comment><![CDATA[Working counter
+Before sending]]></Comment>
+								<Type>UINT</Type>
+								<BitOffs>3096</BitOffs>
+							</Var>
+						</Vars>
+					</EtherCATCmd>
+				</EtherCAT>
 			</Device>
 		</Io>
 	</Project>
 	<Mappings>
 		<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x02030010"/>
 		<MappingInfo Identifier="{00000000-0030-0304-1000-040331000403}" Id="#x02030020"/>
+		<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
 	</Mappings>
 </TcSmProject>
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index 6836803..bc12cd2 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -1425,7 +1425,7 @@ External Setpoint Generation:
 		</DataType>
 	</DataTypes>
 	<NC>
-		<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
+		<SafTask Priority="4" CycleTime="2500" AmsPort="501" IoAtBegin="true">
 			<Name>NC-Task 1 SAF</Name>
 			<Vars VarGrpType="1" InsertType="1">
 				<Name>Inputs</Name>
diff --git a/solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x64)/TcApplicationRuntimeModulesW32.dll b/solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x64)/TcApplicationRuntimeModulesW32.dll
new file mode 100644
index 0000000..8d693ae
Binary files /dev/null and b/solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x64)/TcApplicationRuntimeModulesW32.dll differ
diff --git a/solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x86)/TcApplicationRuntimeModulesW32.dll b/solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x86)/TcApplicationRuntimeModulesW32.dll
new file mode 100644
index 0000000..6346f8c
Binary files /dev/null and b/solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x86)/TcApplicationRuntimeModulesW32.dll differ
diff --git a/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT OS (x64)/TcBodePlot.tmx b/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT OS (x64)/TcBodePlot.tmx
new file mode 100644
index 0000000..a35dccf
Binary files /dev/null and b/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT OS (x64)/TcBodePlot.tmx differ
diff --git a/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x64)/TcBodePlot.tmx b/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x64)/TcBodePlot.tmx
new file mode 100644
index 0000000..6532617
Binary files /dev/null and b/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x64)/TcBodePlot.tmx differ
diff --git a/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x86)/TcBodePlot.tmx b/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x86)/TcBodePlot.tmx
new file mode 100644
index 0000000..ca10f2d
Binary files /dev/null and b/solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x86)/TcBodePlot.tmx differ
diff --git a/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT OS (x64)/TcNcObjects.tmx b/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT OS (x64)/TcNcObjects.tmx
new file mode 100644
index 0000000..11f5e2b
Binary files /dev/null and b/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT OS (x64)/TcNcObjects.tmx differ
diff --git a/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x64)/TcNcObjects.tmx b/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x64)/TcNcObjects.tmx
new file mode 100644
index 0000000..9d514ed
Binary files /dev/null and b/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x64)/TcNcObjects.tmx differ
diff --git a/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x86)/TcNcObjects.tmx b/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x86)/TcNcObjects.tmx
new file mode 100644
index 0000000..2579f1c
Binary files /dev/null and b/solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x86)/TcNcObjects.tmx differ