diff --git a/solution.sln b/solution.sln
index 4dccbdf..2694336 100644
--- a/solution.sln
+++ b/solution.sln
@@ -1,7 +1,7 @@
Microsoft Visual Studio Solution File, Format Version 12.00
-# TcXaeShell Solution File, Format Version 11.00
-VisualStudioVersion = 15.0.28010.2050
+# Visual Studio 2013
+VisualStudioVersion = 12.0.21005.1
MinimumVisualStudioVersion = 10.0.40219.1
Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}"
EndProject
@@ -49,21 +49,6 @@ Global
{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)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = 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)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/_Config/IO/Device 1 (EtherCAT).xti b/solution/_Config/IO/Device 1 (EtherCAT).xti
new file mode 100644
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200).xti
new file mode 100644
index 0000000..92d9bb1
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 2 (EL1808).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 2 (EL1808).xti
new file mode 100644
index 0000000..7be0733
--- /dev/null
+++ b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 2 (EL1808).xti
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 3 (EL2819).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 3 (EL2819).xti
new file mode 100644
index 0000000..58fc390
--- /dev/null
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 4 (EL5002).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 4 (EL5002).xti
new file mode 100644
index 0000000..55ba871
--- /dev/null
+++ b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 4 (EL5002).xti
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 5 (EL2014).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 5 (EL2014).xti
new file mode 100644
index 0000000..39ed707
--- /dev/null
+++ b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 5 (EL2014).xti
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 6 (EL7041-0052).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 6 (EL7041-0052).xti
new file mode 100644
index 0000000..fdcf159
--- /dev/null
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 7 (EL7041-0052).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 7 (EL7041-0052).xti
new file mode 100644
index 0000000..afff966
--- /dev/null
+++ b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 7 (EL7041-0052).xti
@@ -0,0 +1,482 @@
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diff --git a/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 8 (EK1110).xti b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 8 (EK1110).xti
new file mode 100644
index 0000000..d76cc55
--- /dev/null
+++ b/solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 8 (EK1110).xti
@@ -0,0 +1,11 @@
+
+
+
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diff --git a/solution/_Config/NC/Axes/Axis 1.xti b/solution/_Config/NC/Axes/Axis 1.xti
new file mode 100644
index 0000000..c3c42a6
--- /dev/null
+++ b/solution/_Config/NC/Axes/Axis 1.xti
@@ -0,0 +1,1567 @@
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+ nDcInputTime
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+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ PLCTONC_AXIS_REF_CTRL
+ 32
+
+ Enable
+ BIT
+ 1
+ 0
+
+
+ FeedEnablePlus
+ BIT
+ 1
+ 1
+
+
+ FeedEnableMinus
+ BIT
+ 1
+ 2
+
+
+ HomingSensor
+ BIT
+ 1
+ 5
+
+
+ AcceptBlockedDrive
+ BIT
+ 1
+ 8
+
+
+ PlcDebugFlag
+ BIT
+ 1
+ 30
+
+
+ NcDebugFlag
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ PLCTONC_AXIS_REF
+ 1024
+
+ ControlDWord
+ PLCTONC_AXIS_REF_CTRL
+ 32
+ 0
+
+
+ Override
+ UDINT
+ 32
+ 32
+
+
+ AxisModeRequest
+ UDINT
+ 32
+ 64
+
+
+ AxisModeDWord
+ UDINT
+ 32
+ 96
+
+
+ AxisModeLReal
+ LREAL
+ 64
+ 128
+
+
+ PositionCorrection
+ LREAL
+ 64
+ 192
+
+
+ ExtSetPos
+ LREAL
+ 64
+ 256
+
+
+ ExtSetVelo
+ LREAL
+ 64
+ 320
+
+
+ ExtSetAcc
+ LREAL
+ 64
+ 384
+
+
+ ExtSetDirection
+ DINT
+ 32
+ 448
+
+
+ ExtControllerOutput
+ LREAL
+ 64
+ 512
+
+
+ GearRatio1
+ LREAL
+ 64
+ 576
+
+
+ GearRatio2
+ LREAL
+ 64
+ 640
+
+
+ GearRatio3
+ LREAL
+ 64
+ 704
+
+
+ GearRatio4
+ LREAL
+ 64
+ 768
+
+
+ MapState
+ BOOL
+ 8
+ 832
+
+
+ PlcCycleControl
+ BYTE
+ 8
+ 840
+
+
+ PlcCycleCount
+ BYTE
+ 8
+ 848
+
+
+
+ NcStructType
+ 1
+
+
+
+
+ NCAXLESTRUCT_FROMPLC3
+
+
+
+
+ NCTOPLC_AXIS_REF_STATE
+ 32
+
+ Operational
+ BIT
+ 1
+ 0
+
+
+ Homed
+ BIT
+ 1
+ 1
+
+
+ NotMoving
+ BIT
+ 1
+ 2
+
+
+ InPositionArea
+ BIT
+ 1
+ 3
+
+
+ InTargetPosition
+ BIT
+ 1
+ 4
+
+
+ Protected
+ BIT
+ 1
+ 5
+
+
+ ErrorPropagationDelayed
+ BIT
+ 1
+ 6
+
+
+ HasBeenStopped
+ BIT
+ 1
+ 7
+
+
+ HasJob
+ BIT
+ 1
+ 8
+
+
+ PositiveDirection
+ BIT
+ 1
+ 9
+
+
+ NegativeDirection
+ BIT
+ 1
+ 10
+
+
+ HomingBusy
+ BIT
+ 1
+ 11
+
+
+ ConstantVelocity
+ BIT
+ 1
+ 12
+
+
+ Compensating
+ BIT
+ 1
+ 13
+
+
+ ExtSetPointGenEnabled
+ BIT
+ 1
+ 14
+
+
+ PhasingActive
+ BIT
+ 1
+ 15
+
+
+ ExternalLatchValid
+ BIT
+ 1
+ 16
+
+
+ NewTargetPos
+ BIT
+ 1
+ 17
+
+
+ ContinuousMotion
+ BIT
+ 1
+ 19
+
+
+ ControlLoopClosed
+ BIT
+ 1
+ 20
+
+
+ CamTableQueued
+ BIT
+ 1
+ 21
+
+
+ CamDataQueued
+ BIT
+ 1
+ 22
+
+
+ CamScalingPending
+ BIT
+ 1
+ 23
+
+
+ CmdBuffered
+ BIT
+ 1
+ 24
+
+
+ PTPmode
+ BIT
+ 1
+ 25
+
+
+ SoftLimitMinExceeded
+ BIT
+ 1
+ 26
+
+
+ SoftLimitMaxExceeded
+ BIT
+ 1
+ 27
+
+
+ DriveDeviceError
+ BIT
+ 1
+ 28
+
+
+ MotionCommandsLocked
+ BIT
+ 1
+ 29
+
+
+ IoDataInvalid
+ BIT
+ 1
+ 30
+
+
+ Error
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+
+ OpModePosAreaMonitoring
+ BIT
+ 1
+ 0
+
+
+ OpModeTargetPosMonitoring
+ BIT
+ 1
+ 1
+
+
+ OpModeLoop
+ BIT
+ 1
+ 2
+
+
+ OpModeMotionMonitoring
+ BIT
+ 1
+ 3
+
+
+ OpModePEHTimeMonitoring
+ BIT
+ 1
+ 4
+
+
+ OpModeBacklashCompensation
+ BIT
+ 1
+ 5
+
+
+ OpModeDelayedErrorReaction
+ BIT
+ 1
+ 6
+
+
+ OpModeModulo
+ BIT
+ 1
+ 7
+
+
+ OpModeSimulationAxis
+ BIT
+ 1
+ 8
+
+
+ OpModePosLagMonitoring
+ BIT
+ 1
+ 16
+
+
+ OpModeVeloLagMonitoring
+ BIT
+ 1
+ 17
+
+
+ OpModeSoftLimitMinMonitoring
+ BIT
+ 1
+ 18
+
+
+ OpModeSoftLimitMaxMonitoring
+ BIT
+ 1
+ 19
+
+
+ OpModePosCorrection
+ BIT
+ 1
+ 20
+
+
+ OpModeAllowSlaveCommands
+ BIT
+ 1
+ 21
+
+
+ OpModeAllowExtSetAxisCommands
+ BIT
+ 1
+ 22
+
+
+ ApplicationRequest
+ BIT
+ 1
+ 23
+
+
+
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+
+ AvoidingCollision
+ BIT
+ 1
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+
+ Value
+ DWORD
+ 32
+ 0
+
+
+ Flags
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+ 8
+
+ CamActivationPending
+ BIT
+ 1
+ 0
+
+
+ CamDeactivationPending
+ BIT
+ 1
+ 1
+
+
+ CamActive
+ BIT
+ 1
+ 2
+
+
+ CamDataQueued
+ BIT
+ 1
+ 6
+
+
+ CamScalingPending
+ BIT
+ 1
+ 7
+
+
+
+ UINTARR8
+ 128
+ UINT
+
+ 0
+ 8
+
+
+
+ NCTOPLC_AXIS_REF
+ 2048
+
+ StateDWord
+ NCTOPLC_AXIS_REF_STATE
+ 32
+ 0
+
+
+ ErrorCode
+ UDINT
+ 32
+ 32
+
+
+ AxisState
+ UDINT
+
+ 32
+ 64
+
+
+ AxisModeConfirmation
+ UDINT
+ 32
+ 96
+
+
+ HomingState
+ UDINT
+
+ 32
+ 128
+
+
+ CoupleState
+ UDINT
+
+ 32
+ 160
+
+
+ SvbEntries
+ UDINT
+ 32
+ 192
+
+
+ SafEntries
+ UDINT
+ 32
+ 224
+
+
+ AxisId
+ UDINT
+ 32
+ 256
+
+
+ OpModeDWord
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+ 288
+
+
+ ActPos
+ LREAL
+ 64
+ 320
+
+
+ ModuloActPos
+ LREAL
+ 64
+ 384
+
+
+ ActiveControlLoopIndex
+ UINT
+ 16
+ 448
+
+
+ ControlLoopIndex
+ UINT
+ 16
+ 464
+
+
+ ModuloActTurns
+ DINT
+ 32
+ 480
+
+
+ ActVelo
+ LREAL
+ 64
+ 512
+
+
+ PosDiff
+ LREAL
+ 64
+ 576
+
+
+ SetPos
+ LREAL
+ 64
+ 640
+
+
+ SetVelo
+ LREAL
+ 64
+ 704
+
+
+ SetAcc
+ LREAL
+ 64
+ 768
+
+
+ TargetPos
+ LREAL
+ 64
+ 832
+
+
+ ModuloSetPos
+ LREAL
+ 64
+ 896
+
+
+ ModuloSetTurns
+ DINT
+ 32
+ 960
+
+
+ CmdNo
+ UINT
+ 16
+ 992
+
+
+ CmdState
+ UINT
+ 16
+ 1008
+
+
+ SetJerk
+ LREAL
+ 64
+ 1024
+
+
+ SetTorque
+ LREAL
+ 64
+ 1088
+
+
+ ActTorque
+ LREAL
+ 64
+ 1152
+
+
+ StateDWord2
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+ 1216
+
+
+ StateDWord3
+ DWORD
+ 32
+ 1248
+
+
+ TouchProbeState
+ DWORD
+ 32
+ 1280
+
+
+ TouchProbeCounter
+ DWORD
+ 32
+ 1312
+
+
+ CamCouplingState
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+
+ 0
+ 8
+
+ 64
+ 1344
+
+
+ CamCouplingTableID
+ UINTARR8
+ 128
+ 1408
+
+
+ ActTorqueDerivative
+ LREAL
+ 64
+ 1536
+
+
+ SetTorqueDerivative
+ LREAL
+ 64
+ 1600
+
+
+ ActPosWithoutPosCorrection
+ LREAL
+ 64
+ 1792
+
+
+ ActAcc
+ LREAL
+ 64
+ 1856
+
+
+ DcTimeStamp
+ UDINT
+ 32
+ 1920
+
+
+
+ NcStructType
+ 2
+
+
+
+
+ NCAXLESTRUCT_TOPLC
+
+
+ NCAXLESTRUCT_TOPLC2
+
+
+ NCAXLESTRUCT_TOPLC3
+
+
+ NCAXLESTRUCT_TOPLC4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ __FILENAME__
+
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 1024
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 2048
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 1344
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 2368
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+ nCtrl3
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/_Config/NC/Axes/Axis 2.xti b/solution/_Config/NC/Axes/Axis 2.xti
new file mode 100644
index 0000000..c94b9c9
--- /dev/null
+++ b/solution/_Config/NC/Axes/Axis 2.xti
@@ -0,0 +1,1569 @@
+
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ PLCTONC_AXIS_REF_CTRL
+ 32
+
+ Enable
+ BIT
+ 1
+ 0
+
+
+ FeedEnablePlus
+ BIT
+ 1
+ 1
+
+
+ FeedEnableMinus
+ BIT
+ 1
+ 2
+
+
+ HomingSensor
+ BIT
+ 1
+ 5
+
+
+ AcceptBlockedDrive
+ BIT
+ 1
+ 8
+
+
+ PlcDebugFlag
+ BIT
+ 1
+ 30
+
+
+ NcDebugFlag
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ PLCTONC_AXIS_REF
+ 1024
+
+ ControlDWord
+ PLCTONC_AXIS_REF_CTRL
+ 32
+ 0
+
+
+ Override
+ UDINT
+ 32
+ 32
+
+
+ AxisModeRequest
+ UDINT
+ 32
+ 64
+
+
+ AxisModeDWord
+ UDINT
+ 32
+ 96
+
+
+ AxisModeLReal
+ LREAL
+ 64
+ 128
+
+
+ PositionCorrection
+ LREAL
+ 64
+ 192
+
+
+ ExtSetPos
+ LREAL
+ 64
+ 256
+
+
+ ExtSetVelo
+ LREAL
+ 64
+ 320
+
+
+ ExtSetAcc
+ LREAL
+ 64
+ 384
+
+
+ ExtSetDirection
+ DINT
+ 32
+ 448
+
+
+ ExtControllerOutput
+ LREAL
+ 64
+ 512
+
+
+ GearRatio1
+ LREAL
+ 64
+ 576
+
+
+ GearRatio2
+ LREAL
+ 64
+ 640
+
+
+ GearRatio3
+ LREAL
+ 64
+ 704
+
+
+ GearRatio4
+ LREAL
+ 64
+ 768
+
+
+ MapState
+ BOOL
+ 8
+ 832
+
+
+ PlcCycleControl
+ BYTE
+ 8
+ 840
+
+
+ PlcCycleCount
+ BYTE
+ 8
+ 848
+
+
+
+ NcStructType
+ 1
+
+
+
+
+ NCAXLESTRUCT_FROMPLC3
+
+
+
+
+ NCTOPLC_AXIS_REF_STATE
+ 32
+
+ Operational
+ BIT
+ 1
+ 0
+
+
+ Homed
+ BIT
+ 1
+ 1
+
+
+ NotMoving
+ BIT
+ 1
+ 2
+
+
+ InPositionArea
+ BIT
+ 1
+ 3
+
+
+ InTargetPosition
+ BIT
+ 1
+ 4
+
+
+ Protected
+ BIT
+ 1
+ 5
+
+
+ ErrorPropagationDelayed
+ BIT
+ 1
+ 6
+
+
+ HasBeenStopped
+ BIT
+ 1
+ 7
+
+
+ HasJob
+ BIT
+ 1
+ 8
+
+
+ PositiveDirection
+ BIT
+ 1
+ 9
+
+
+ NegativeDirection
+ BIT
+ 1
+ 10
+
+
+ HomingBusy
+ BIT
+ 1
+ 11
+
+
+ ConstantVelocity
+ BIT
+ 1
+ 12
+
+
+ Compensating
+ BIT
+ 1
+ 13
+
+
+ ExtSetPointGenEnabled
+ BIT
+ 1
+ 14
+
+
+ PhasingActive
+ BIT
+ 1
+ 15
+
+
+ ExternalLatchValid
+ BIT
+ 1
+ 16
+
+
+ NewTargetPos
+ BIT
+ 1
+ 17
+
+
+ ContinuousMotion
+ BIT
+ 1
+ 19
+
+
+ ControlLoopClosed
+ BIT
+ 1
+ 20
+
+
+ CamTableQueued
+ BIT
+ 1
+ 21
+
+
+ CamDataQueued
+ BIT
+ 1
+ 22
+
+
+ CamScalingPending
+ BIT
+ 1
+ 23
+
+
+ CmdBuffered
+ BIT
+ 1
+ 24
+
+
+ PTPmode
+ BIT
+ 1
+ 25
+
+
+ SoftLimitMinExceeded
+ BIT
+ 1
+ 26
+
+
+ SoftLimitMaxExceeded
+ BIT
+ 1
+ 27
+
+
+ DriveDeviceError
+ BIT
+ 1
+ 28
+
+
+ MotionCommandsLocked
+ BIT
+ 1
+ 29
+
+
+ IoDataInvalid
+ BIT
+ 1
+ 30
+
+
+ Error
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+
+ OpModePosAreaMonitoring
+ BIT
+ 1
+ 0
+
+
+ OpModeTargetPosMonitoring
+ BIT
+ 1
+ 1
+
+
+ OpModeLoop
+ BIT
+ 1
+ 2
+
+
+ OpModeMotionMonitoring
+ BIT
+ 1
+ 3
+
+
+ OpModePEHTimeMonitoring
+ BIT
+ 1
+ 4
+
+
+ OpModeBacklashCompensation
+ BIT
+ 1
+ 5
+
+
+ OpModeDelayedErrorReaction
+ BIT
+ 1
+ 6
+
+
+ OpModeModulo
+ BIT
+ 1
+ 7
+
+
+ OpModeSimulationAxis
+ BIT
+ 1
+ 8
+
+
+ OpModePosLagMonitoring
+ BIT
+ 1
+ 16
+
+
+ OpModeVeloLagMonitoring
+ BIT
+ 1
+ 17
+
+
+ OpModeSoftLimitMinMonitoring
+ BIT
+ 1
+ 18
+
+
+ OpModeSoftLimitMaxMonitoring
+ BIT
+ 1
+ 19
+
+
+ OpModePosCorrection
+ BIT
+ 1
+ 20
+
+
+ OpModeAllowSlaveCommands
+ BIT
+ 1
+ 21
+
+
+ OpModeAllowExtSetAxisCommands
+ BIT
+ 1
+ 22
+
+
+ ApplicationRequest
+ BIT
+ 1
+ 23
+
+
+
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+
+ AvoidingCollision
+ BIT
+ 1
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+
+ Value
+ DWORD
+ 32
+ 0
+
+
+ Flags
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+ 8
+
+ CamActivationPending
+ BIT
+ 1
+ 0
+
+
+ CamDeactivationPending
+ BIT
+ 1
+ 1
+
+
+ CamActive
+ BIT
+ 1
+ 2
+
+
+ CamDataQueued
+ BIT
+ 1
+ 6
+
+
+ CamScalingPending
+ BIT
+ 1
+ 7
+
+
+
+ UINTARR8
+ 128
+ UINT
+
+ 0
+ 8
+
+
+
+ NCTOPLC_AXIS_REF
+ 2048
+
+ StateDWord
+ NCTOPLC_AXIS_REF_STATE
+ 32
+ 0
+
+
+ ErrorCode
+ UDINT
+ 32
+ 32
+
+
+ AxisState
+ UDINT
+
+ 32
+ 64
+
+
+ AxisModeConfirmation
+ UDINT
+ 32
+ 96
+
+
+ HomingState
+ UDINT
+
+ 32
+ 128
+
+
+ CoupleState
+ UDINT
+
+ 32
+ 160
+
+
+ SvbEntries
+ UDINT
+ 32
+ 192
+
+
+ SafEntries
+ UDINT
+ 32
+ 224
+
+
+ AxisId
+ UDINT
+ 32
+ 256
+
+
+ OpModeDWord
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+ 288
+
+
+ ActPos
+ LREAL
+ 64
+ 320
+
+
+ ModuloActPos
+ LREAL
+ 64
+ 384
+
+
+ ActiveControlLoopIndex
+ UINT
+ 16
+ 448
+
+
+ ControlLoopIndex
+ UINT
+ 16
+ 464
+
+
+ ModuloActTurns
+ DINT
+ 32
+ 480
+
+
+ ActVelo
+ LREAL
+ 64
+ 512
+
+
+ PosDiff
+ LREAL
+ 64
+ 576
+
+
+ SetPos
+ LREAL
+ 64
+ 640
+
+
+ SetVelo
+ LREAL
+ 64
+ 704
+
+
+ SetAcc
+ LREAL
+ 64
+ 768
+
+
+ TargetPos
+ LREAL
+ 64
+ 832
+
+
+ ModuloSetPos
+ LREAL
+ 64
+ 896
+
+
+ ModuloSetTurns
+ DINT
+ 32
+ 960
+
+
+ CmdNo
+ UINT
+ 16
+ 992
+
+
+ CmdState
+ UINT
+ 16
+ 1008
+
+
+ SetJerk
+ LREAL
+ 64
+ 1024
+
+
+ SetTorque
+ LREAL
+ 64
+ 1088
+
+
+ ActTorque
+ LREAL
+ 64
+ 1152
+
+
+ StateDWord2
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+ 1216
+
+
+ StateDWord3
+ DWORD
+ 32
+ 1248
+
+
+ TouchProbeState
+ DWORD
+ 32
+ 1280
+
+
+ TouchProbeCounter
+ DWORD
+ 32
+ 1312
+
+
+ CamCouplingState
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+
+ 0
+ 8
+
+ 64
+ 1344
+
+
+ CamCouplingTableID
+ UINTARR8
+ 128
+ 1408
+
+
+ ActTorqueDerivative
+ LREAL
+ 64
+ 1536
+
+
+ SetTorqueDerivative
+ LREAL
+ 64
+ 1600
+
+
+ ActPosWithoutPosCorrection
+ LREAL
+ 64
+ 1792
+
+
+ ActAcc
+ LREAL
+ 64
+ 1856
+
+
+ DcTimeStamp
+ UDINT
+ 32
+ 1920
+
+
+
+ NcStructType
+ 2
+
+
+
+
+ NCAXLESTRUCT_TOPLC
+
+
+ NCAXLESTRUCT_TOPLC2
+
+
+ NCAXLESTRUCT_TOPLC3
+
+
+ NCAXLESTRUCT_TOPLC4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ __FILENAME__
+
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 2688
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 4736
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 3008
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 5056
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+ nCtrl3
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+ 1664
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+ 2688
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index 759c7a3..f60b086 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -16,5 +16,7 @@
NC-Task 1 SVB
+
+
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index db9cc25..b3869ae 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,6 +1,6 @@
-
+
@@ -19,5 +19,11 @@
+
+
+
+
+
+
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index a423ad2..8264b58 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -1,13 +1,14 @@
-
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 23f225b..9f5f5f2 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,7 +1,8 @@
-