From 4827ed423591aa30637be492bf93e2bc281925e1 Mon Sep 17 00:00:00 2001
From: SCooper <simon.cooper@stfc.ac.uk>
Date: Fri, 23 Jul 2021 12:03:59 +0100
Subject: [PATCH] add hardware and functions for development with test crate

---
 solution/_Config/NC/NC.xti                    | 2064 ++++++++++++++++-
 solution/_Config/PLC/tc_project_app.xti       | 1038 +++++++++
 solution/solution.tsproj                      | 1485 +++++++++++-
 solution/tc_project_app/GVLs/GVL_APP.TcGVL    |    3 +-
 .../Applications/Application_Template.TcPOU   |   18 -
 .../Applications/limitsPower.TcPOU            |   19 +
 .../Axes/Axis_Template.TcPOU                  |   34 -
 .../Application_Specific/Axes/testProg.TcPOU  |   25 +
 solution/tc_project_app/POUs/MAIN.TcPOU       |   18 +-
 solution/tc_project_app/tc_mca_std_lib        |    2 +-
 .../tc_project_app/tc_project_app.plcproj     |    7 +-
 11 files changed, 4641 insertions(+), 72 deletions(-)
 delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU
 create mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU
 delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
 create mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU

diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index 759c7a3..8f756c9 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -1,5 +1,1346 @@
 <?xml version="1.0"?>
-<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4023.119" ClassName="CNcSafTaskDef" SubType="0">
+<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.11" ClassName="CNcSafTaskDef" SubType="0">
+	<DataTypes>
+		<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="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN2B</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataIn1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<Comment><![CDATA[Encoder Status 4 (automatically linked):
+0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+]]></Comment>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDcInputTime</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<Comment><![CDATA[Drive Velocity Actual Value
+]]></Comment>
+				<BitSize>32</BitSize>
+				<BitOffs>288</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{55728D3F-7B02-4448-8096-580617CECBA3}">NCENCODERSTRUCT_IN</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataOut1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{5FE34D39-3B85-4458-8264-8C4874D8985C}">NCENCODERSTRUCT_OUT</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_IN2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataIn1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<Comment><![CDATA[Drive Status 4 (automatically linked):
+0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+
+Drive Status 4 (manually linked):
+0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
+]]></Comment>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<Comment><![CDATA[Digital Inputs 1..8
+]]></Comment>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDcOutputTime</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{9AC463DC-3417-4DEA-AD2A-5FBD4C9C15AA}">NCDRIVESTRUCT_IN</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_OUT2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataOut1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{595E16A9-7783-4B1C-A30C-48BA6EFCC859}">NCDRIVESTRUCT_OUT</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">PLCTONC_AXIS_REF_CTRL</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Enable</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnablePlus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnableMinus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingSensor</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AcceptBlockedDrive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>30</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>31</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
+			<BitSize>1024</BitSize>
+			<SubItem>
+				<Name>ControlDWord</Name>
+				<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Override</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeRequest</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeDWord</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeLReal</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PositionCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>320</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>384</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>448</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtControllerOutput</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>512</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio1</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>576</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio2</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>640</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio3</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>704</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio4</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>768</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>MapState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>832</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleControl</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>840</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleCount</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>848</BitOffs>
+			</SubItem>
+			<Properties>
+				<Property>
+					<Name>NcStructType</Name>
+					<Value>1</Value>
+				</Property>
+			</Properties>
+			<Relations>
+				<Relation Priority="100">
+					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{CBC83B73-B816-4597-A9E5-2B03263CA131}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Operational</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Homed</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NotMoving</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>InPositionArea</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>3</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>InTargetPosition</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>4</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Protected</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ErrorPropagationDelayed</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>6</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HasBeenStopped</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>7</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HasJob</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PositiveDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>9</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NegativeDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>10</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingBusy</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>11</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ConstantVelocity</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>12</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Compensating</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>13</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetPointGenEnabled</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>14</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PhasingActive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>15</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExternalLatchValid</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>16</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NewTargetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>17</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>IsDriveLimitActive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>18</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ContinuousMotion</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>19</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ControlLoopClosed</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>20</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamTableQueued</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>21</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamDataQueued</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>22</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamScalingPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>23</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CmdBuffered</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>24</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PTPmode</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>25</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SoftLimitMinExceeded</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>26</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SoftLimitMaxExceeded</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>27</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>DriveDeviceError</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>28</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>MotionCommandsLocked</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>29</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>IoDataInvalid</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>30</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Error</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>31</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+			<Relations>
+				<Relation Priority="100">
+					<Type>{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}</Type>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_OPMODE</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>OpModePosAreaMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeTargetPosMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeLoop</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeMotionMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>3</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModePEHTimeMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>4</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeBacklashCompensation</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeDelayedErrorReaction</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>6</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeModulo</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>7</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeSimulationAxis</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModePosLagMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>16</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeVeloLagMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>17</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeSoftLimitMinMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>18</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeSoftLimitMaxMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>19</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModePosCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>20</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeAllowSlaveCommands</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>21</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeAllowExtSetAxisCommands</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>22</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ApplicationRequest</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>23</BitOffs>
+			</SubItem>
+		</DataType>
+		<DataType>
+			<Name GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2_FLAGS</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>AvoidingCollision</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Value</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Flags</Name>
+				<Type GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2_FLAGS</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Name>
+			<BitSize>8</BitSize>
+			<SubItem>
+				<Name>CamActivationPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamDeactivationPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamActive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamDataQueued</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>6</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamScalingPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>7</BitOffs>
+			</SubItem>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-000000000039}" TcBaseType="true" HideType="true">UINTARR8</Name>
+			<BitSize>128</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>8</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
+			<BitSize>2048</BitSize>
+			<SubItem>
+				<Name>StateDWord</Name>
+				<Type GUID="{CBC83B73-B816-4597-A9E5-2B03263CA131}" Namespace="MC">NCTOPLC_AXIS_REF_STATE</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ErrorCode</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<Comment><![CDATA[Present State Of The Axis Movement (continuous axis):
+0  = INACTIVE:		axis has no job
+1  = RUNNING:		axis is executing a motion job
+2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
+3  = PHASE_VELOCONST:	axis is moving at constant velocity
+4  = PHASE_ACCPOS:	axis is accelerating
+5  = PHASE_ACCNEG:	axis is decelerating
+Slaves only:
+11 = PREPHASE:		slave axis is in a motion pre-phase
+12 = SYNCHRONIZING:	slave axis is synchronizing
+13 = SYNCHRONOUS:	slave axis is moving synchronously
+External Setpoint Generation:
+41 = EXTSETGEN_MODE1:	external setpoint generation active
+42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
+]]></Comment>
+				<BitSize>32</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeConfirmation</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<Comment><![CDATA[Axis Homing Status:
+0: idle
+1: start homing
+2: searching home switch
+3: stopping on home switch
+4: moving off home switch
+5: searching sync pulse
+6: stopping after homing
+]]></Comment>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CoupleState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<Comment><![CDATA[Axis Coupling Status:
+0: axis is a single axis (not coupled)
+1: axis is a master axis
+2: axis is master and slave
+3: axis is a slave axis
+]]></Comment>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SvbEntries</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SafEntries</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisId</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeDWord</Name>
+				<Type GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC">NCTOPLC_AXIS_REF_OPMODE</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>288</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>320</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloActPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>384</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActiveControlLoopIndex</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>448</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ControlLoopIndex</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>464</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloActTurns</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>480</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>512</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PosDiff</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>576</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>640</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>704</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>768</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TargetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>832</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloSetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>896</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloSetTurns</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>960</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CmdNo</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>992</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CmdState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>1008</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetJerk</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1024</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetTorque</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1088</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActTorque</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1152</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>StateDWord2</Name>
+				<Type GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1216</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>StateDWord3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TouchProbeState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1280</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TouchProbeCounter</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1312</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamCouplingState</Name>
+				<Type GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Type>
+				<ArrayInfo>
+					<LBound>0</LBound>
+					<Elements>8</Elements>
+				</ArrayInfo>
+				<BitSize>64</BitSize>
+				<BitOffs>1344</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamCouplingTableID</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000039}">UINTARR8</Type>
+				<BitSize>128</BitSize>
+				<BitOffs>1408</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActTorqueDerivative</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1536</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetTorqueDerivative</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1600</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AbsPhasingPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1664</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TorqueOffset</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1728</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActPosWithoutPosCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1792</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1856</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>DcTimeStamp</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1920</BitOffs>
+			</SubItem>
+			<Properties>
+				<Property>
+					<Name>NcStructType</Name>
+					<Value>2</Value>
+				</Property>
+			</Properties>
+			<Relations>
+				<Relation Priority="100">
+					<Type GUID="{429B767E-373B-40AE-BFA5-E1C08B444DF3}">NCAXLESTRUCT_TOPLC</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{E8DA524A-605F-4879-82E6-B86EF6986572}">NCAXLESTRUCT_TOPLC2</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{B507963E-69F3-4B64-BB8C-2BD7A560976D}">NCAXLESTRUCT_TOPLC3</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{F794B740-82D7-4637-848E-4F74A711D038}">NCAXLESTRUCT_TOPLC4</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}"></Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}"></Type>
+				</Relation>
+			</Relations>
+		</DataType>
+	</DataTypes>
 	<NC>
 		<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
 			<Name>NC-Task 1 SAF</Name>
@@ -16,5 +1357,726 @@
 		<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
 			<Name>NC-Task 1 SVB</Name>
 		</SvbTask>
+		<Axis Id="1" CreateSymbols="true" AxisType="1">
+			<Name>bladeNeg</Name>
+			<AxisPara>
+				<Dynamic AccelerationMaximum="500" DecelerationMaximum="500" Acceleration="100" Deceleration="100" Jerk="500" OverrideType="4"/>
+				<Velo RefSearch="2" RefSync="2" SlowManual="2.5" FastManual="5" Maximum="100"/>
+				<PositionAreaControl Range="0.05"/>
+				<TargetPosControl Range="0.05" Time="0.5"/>
+				<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="1" PulseDistanceNeg="1"/>
+			</AxisPara>
+			<Encoder Name="Enc" EncType="5">
+				<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="4096" Offset="245686.8164" Inverse="true" ReferenceSystem="1">
+					<FilterTime TPos="0.02" TVelo="0.04"/>
+					<ActPosCorrection Time="0.02"/>
+				</EncPara>
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
+						<BitOffs>1024</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn7</Name>
+							<Comment><![CDATA[Drive Velocity Actual Value
+]]></Comment>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
+						<BitOffs>2048</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Encoder>
+			<Drive Name="Drive" DrvType="24">
+				<DrvPara>
+					<Analog VeloReferenz="600" TorqueScale="1" ScaleFactorActTorque="0.1"/>
+					<TimeComp TaskDelayCycles="1"/>
+				</DrvPara>
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
+						<BitOffs>1344</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
+						<BitOffs>2368</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl2</Name>
+							<Comment><![CDATA[Digital Outputs Setpoint Generator:
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl3</Name>
+							<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Drive>
+			<Controller Name="Ctrl" CtrType="3">
+				<CtrPara PriorControlFactor="1">
+					<PosDiffControl Enable="false" Range="0.5" Time="0.5"/>
+					<PID PosKp="10" PosTn="1" PosTv="1" PosTd="1" DeadBandPosition="0.1"/>
+					<Observer BandWidth="20"/>
+				</CtrPara>
+			</Controller>
+			<Vars VarGrpType="1" InsertType="1">
+				<Name>Inputs</Name>
+				<Var>
+					<Name>FromPlc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+				</Var>
+			</Vars>
+			<Vars VarGrpType="2" InsertType="1">
+				<Name>Outputs</Name>
+				<Var>
+					<Name>ToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+				</Var>
+			</Vars>
+		</Axis>
+		<Axis Id="2" CreateSymbols="true" AxisType="1">
+			<Name>bladePos</Name>
+			<AxisPara>
+				<Dynamic AccelerationMaximum="500" DecelerationMaximum="500" Acceleration="384" Deceleration="384" Jerk="1602.78"/>
+				<Velo RefSearch="2" RefSync="2" SlowManual="2.5" FastManual="5" Maximum="100"/>
+				<PositionAreaControl Range="0.2"/>
+				<TargetPosControl Range="0.2" Time="0.5"/>
+				<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="1" PulseDistanceNeg="1"/>
+			</AxisPara>
+			<Encoder Name="Enc" EncType="5">
+				<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="4096" Offset="-245743.330078125" ReferenceSystem="1"/>
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
+						<BitOffs>2688</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn7</Name>
+							<Comment><![CDATA[Drive Velocity Actual Value
+]]></Comment>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
+						<BitOffs>4736</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Encoder>
+			<Drive Name="Drive" DrvType="24">
+				<DrvPara Inverse="true">
+					<Analog VeloReferenz="600" TorqueScale="10" ScaleFactorActTorque="0.1"/>
+					<TimeComp TaskDelayCycles="1"/>
+				</DrvPara>
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
+						<BitOffs>3008</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
+						<BitOffs>5056</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl2</Name>
+							<Comment><![CDATA[Digital Outputs Setpoint Generator:
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl3</Name>
+							<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Drive>
+			<Controller Name="Ctrl" CtrType="1">
+				<CtrPara PriorControlFactor="1">
+					<PosDiffControl Range="0.5" Time="0.5"/>
+					<PID PosKp="10"/>
+					<Observer BandWidth="20"/>
+				</CtrPara>
+			</Controller>
+			<Vars VarGrpType="1" InsertType="1">
+				<Name>Inputs</Name>
+				<Var>
+					<Name>FromPlc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+					<BitOffs>1664</BitOffs>
+				</Var>
+			</Vars>
+			<Vars VarGrpType="2" InsertType="1">
+				<Name>Outputs</Name>
+				<Var>
+					<Name>ToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+					<BitOffs>2688</BitOffs>
+				</Var>
+			</Vars>
+		</Axis>
+		<Axis Id="3" CreateSymbols="true" AxisType="1">
+			<Name>gapSize</Name>
+			<AxisPara>
+				<OtherSettings AllowMotionCmdToSlave="true"/>
+			</AxisPara>
+			<Encoder Name="Enc" EncType="1">
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
+						<BitOffs>4352</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn7</Name>
+							<Comment><![CDATA[Drive Velocity Actual Value
+]]></Comment>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
+						<BitOffs>7424</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Encoder>
+			<Drive Name="Drive" DrvType="5">
+				<DrvPara>
+					<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
+				</DrvPara>
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
+						<BitOffs>4672</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
+						<BitOffs>7744</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl2</Name>
+							<Comment><![CDATA[Digital Outputs Setpoint Generator:
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl3</Name>
+							<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Drive>
+			<Controller Name="Ctrl" CtrType="1">
+				<CtrPara PriorControlFactor="1">
+					<Observer BandWidth="20"/>
+				</CtrPara>
+			</Controller>
+			<Vars VarGrpType="1" InsertType="1">
+				<Name>Inputs</Name>
+				<Var>
+					<Name>FromPlc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+					<BitOffs>3328</BitOffs>
+				</Var>
+			</Vars>
+			<Vars VarGrpType="2" InsertType="1">
+				<Name>Outputs</Name>
+				<Var>
+					<Name>ToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+					<BitOffs>5376</BitOffs>
+				</Var>
+			</Vars>
+		</Axis>
+		<Axis Id="4" CreateSymbols="true" AxisType="1">
+			<Name>gapCentre</Name>
+			<AxisPara>
+				<OtherSettings AllowMotionCmdToSlave="true"/>
+			</AxisPara>
+			<Encoder Name="Enc" EncType="1">
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
+						<BitOffs>6016</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn7</Name>
+							<Comment><![CDATA[Drive Velocity Actual Value
+]]></Comment>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
+						<BitOffs>10112</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Encoder>
+			<Drive Name="Drive" DrvType="5">
+				<DrvPara>
+					<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
+				</DrvPara>
+				<Vars VarGrpType="1">
+					<Name>Inputs</Name>
+					<Var>
+						<Name>In</Name>
+						<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
+						<BitOffs>6336</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn2</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataIn6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+				<Vars VarGrpType="2">
+					<Name>Outputs</Name>
+					<Var>
+						<Name>Out</Name>
+						<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
+						<BitOffs>10432</BitOffs>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut1</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut2</Name>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl2</Name>
+							<Comment><![CDATA[Digital Outputs Setpoint Generator:
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar>
+							<Name>nCtrl3</Name>
+							<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut3</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut4</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut5</Name>
+						</SubVar>
+						<SubVar TypeFormatIndex="2">
+							<Name>nDataOut6</Name>
+						</SubVar>
+					</Var>
+				</Vars>
+			</Drive>
+			<Controller Name="Ctrl" CtrType="1">
+				<CtrPara PriorControlFactor="1">
+					<Observer BandWidth="20"/>
+				</CtrPara>
+			</Controller>
+			<Vars VarGrpType="1" InsertType="1">
+				<Name>Inputs</Name>
+				<Var>
+					<Name>FromPlc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+					<BitOffs>4992</BitOffs>
+				</Var>
+			</Vars>
+			<Vars VarGrpType="2" InsertType="1">
+				<Name>Outputs</Name>
+				<Var>
+					<Name>ToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+					<BitOffs>8064</BitOffs>
+				</Var>
+			</Vars>
+		</Axis>
 	</NC>
+	<Mappings>
+		<OwnerA Name="Axes^bladeNeg">
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 4 (EL5002)">
+				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="SSI Inputs Channel 1^Counter value"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 1^Status^Data error" Size="1"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 1^Status^Data mismatch" Size="1" OffsA="3"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 1^Status^Frame error" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 1^Status^Power failure" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="SSI Inputs Channel 1^Status^Sync error" Size="1" OffsA="5"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="SSI Inputs Channel 1^Status^TxPDO State" Size="1" OffsA="6"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="SSI Inputs Channel 1^Status^TxPDO Toggle" Size="1" OffsA="7"/>
+				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 6 (EL7041-0052)">
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving negative" Size="1" OffsA="5"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving positive" Size="1" OffsA="4"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready" Size="1" OffsA="1"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready to enable" Size="1"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Torque reduced" Size="1" OffsA="6"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Warning" Size="1" OffsA="2"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 1" Size="1" OffsA="3"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 2" Size="1" OffsA="4"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Sync error" Size="1" OffsA="5"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^TxPDO Toggle" Size="1" OffsA="7"/>
+				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
+				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Enable" Size="1"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reduce torque" Size="1" OffsA="2"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
+				<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
+			</OwnerB>
+		</OwnerA>
+		<OwnerA Name="Axes^bladePos">
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 4 (EL5002)">
+				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="SSI Inputs Channel 2^Counter value"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 2^Status^Data error" Size="1"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 2^Status^Data mismatch" Size="1" OffsA="3"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 2^Status^Frame error" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="SSI Inputs Channel 2^Status^Power failure" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="SSI Inputs Channel 2^Status^Sync error" Size="1" OffsA="5"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="SSI Inputs Channel 2^Status^TxPDO State" Size="1" OffsA="6"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="SSI Inputs Channel 2^Status^TxPDO Toggle" Size="1" OffsA="7"/>
+				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 7 (EL7041-0052)">
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving negative" Size="1" OffsA="5"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving positive" Size="1" OffsA="4"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready" Size="1" OffsA="1"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready to enable" Size="1"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Torque reduced" Size="1" OffsA="6"/>
+				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Warning" Size="1" OffsA="2"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 1" Size="1" OffsA="3"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 2" Size="1" OffsA="4"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Sync error" Size="1" OffsA="5"/>
+				<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^TxPDO Toggle" Size="1" OffsA="7"/>
+				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
+				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Enable" Size="1"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reduce torque" Size="1" OffsA="2"/>
+				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
+				<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
+			</OwnerB>
+		</OwnerA>
+	</Mappings>
 </TcSmItem>
diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti
index dbf21f9..7e94b07 100644
--- a/solution/_Config/PLC/tc_project_app.xti
+++ b/solution/_Config/PLC/tc_project_app.xti
@@ -1,9 +1,979 @@
 <?xml version="1.0"?>
 <TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.11" ClassName="CNestedPlcProjDef">
+	<DataTypes>
+		<DataType>
+			<Name GUID="{CBC83B73-B816-4597-A9E5-2B03263CA131}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Operational</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Homed</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NotMoving</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>InPositionArea</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>3</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>InTargetPosition</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>4</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Protected</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ErrorPropagationDelayed</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>6</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HasBeenStopped</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>7</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HasJob</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PositiveDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>9</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NegativeDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>10</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingBusy</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>11</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ConstantVelocity</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>12</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Compensating</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>13</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetPointGenEnabled</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>14</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PhasingActive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>15</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExternalLatchValid</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>16</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NewTargetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>17</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>IsDriveLimitActive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>18</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ContinuousMotion</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>19</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ControlLoopClosed</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>20</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamTableQueued</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>21</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamDataQueued</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>22</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamScalingPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>23</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CmdBuffered</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>24</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PTPmode</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>25</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SoftLimitMinExceeded</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>26</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SoftLimitMaxExceeded</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>27</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>DriveDeviceError</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>28</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>MotionCommandsLocked</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>29</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>IoDataInvalid</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>30</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Error</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>31</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+			<Relations>
+				<Relation Priority="100">
+					<Type>{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}</Type>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_OPMODE</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>OpModePosAreaMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeTargetPosMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeLoop</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeMotionMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>3</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModePEHTimeMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>4</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeBacklashCompensation</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeDelayedErrorReaction</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>6</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeModulo</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>7</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeSimulationAxis</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModePosLagMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>16</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeVeloLagMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>17</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeSoftLimitMinMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>18</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeSoftLimitMaxMonitoring</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>19</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModePosCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>20</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeAllowSlaveCommands</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>21</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeAllowExtSetAxisCommands</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>22</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ApplicationRequest</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>23</BitOffs>
+			</SubItem>
+		</DataType>
+		<DataType>
+			<Name GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2_FLAGS</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>AvoidingCollision</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Value</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Flags</Name>
+				<Type GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2_FLAGS</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Name>
+			<BitSize>8</BitSize>
+			<SubItem>
+				<Name>CamActivationPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamDeactivationPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamActive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamDataQueued</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>6</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamScalingPending</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>7</BitOffs>
+			</SubItem>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-000000000039}" TcBaseType="true" HideType="true">UINTARR8</Name>
+			<BitSize>128</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>8</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
+			<BitSize>2048</BitSize>
+			<SubItem>
+				<Name>StateDWord</Name>
+				<Type GUID="{CBC83B73-B816-4597-A9E5-2B03263CA131}" Namespace="MC">NCTOPLC_AXIS_REF_STATE</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ErrorCode</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<Comment><![CDATA[Present State Of The Axis Movement (continuous axis):
+0  = INACTIVE:		axis has no job
+1  = RUNNING:		axis is executing a motion job
+2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
+3  = PHASE_VELOCONST:	axis is moving at constant velocity
+4  = PHASE_ACCPOS:	axis is accelerating
+5  = PHASE_ACCNEG:	axis is decelerating
+Slaves only:
+11 = PREPHASE:		slave axis is in a motion pre-phase
+12 = SYNCHRONIZING:	slave axis is synchronizing
+13 = SYNCHRONOUS:	slave axis is moving synchronously
+External Setpoint Generation:
+41 = EXTSETGEN_MODE1:	external setpoint generation active
+42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
+]]></Comment>
+				<BitSize>32</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeConfirmation</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<Comment><![CDATA[Axis Homing Status:
+0: idle
+1: start homing
+2: searching home switch
+3: stopping on home switch
+4: moving off home switch
+5: searching sync pulse
+6: stopping after homing
+]]></Comment>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CoupleState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<Comment><![CDATA[Axis Coupling Status:
+0: axis is a single axis (not coupled)
+1: axis is a master axis
+2: axis is master and slave
+3: axis is a slave axis
+]]></Comment>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SvbEntries</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SafEntries</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisId</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>OpModeDWord</Name>
+				<Type GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC">NCTOPLC_AXIS_REF_OPMODE</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>288</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>320</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloActPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>384</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActiveControlLoopIndex</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>448</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ControlLoopIndex</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>464</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloActTurns</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>480</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>512</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PosDiff</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>576</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>640</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>704</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>768</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TargetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>832</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloSetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>896</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ModuloSetTurns</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>960</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CmdNo</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>992</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CmdState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
+				<BitSize>16</BitSize>
+				<BitOffs>1008</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetJerk</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1024</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetTorque</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1088</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActTorque</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1152</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>StateDWord2</Name>
+				<Type GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1216</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>StateDWord3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TouchProbeState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1280</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TouchProbeCounter</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1312</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamCouplingState</Name>
+				<Type GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Type>
+				<ArrayInfo>
+					<LBound>0</LBound>
+					<Elements>8</Elements>
+				</ArrayInfo>
+				<BitSize>64</BitSize>
+				<BitOffs>1344</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>CamCouplingTableID</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000039}">UINTARR8</Type>
+				<BitSize>128</BitSize>
+				<BitOffs>1408</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActTorqueDerivative</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1536</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>SetTorqueDerivative</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1600</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AbsPhasingPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1664</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>TorqueOffset</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1728</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActPosWithoutPosCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1792</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ActAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>1856</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>DcTimeStamp</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>1920</BitOffs>
+			</SubItem>
+			<Properties>
+				<Property>
+					<Name>NcStructType</Name>
+					<Value>2</Value>
+				</Property>
+			</Properties>
+			<Relations>
+				<Relation Priority="100">
+					<Type GUID="{429B767E-373B-40AE-BFA5-E1C08B444DF3}">NCAXLESTRUCT_TOPLC</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{E8DA524A-605F-4879-82E6-B86EF6986572}">NCAXLESTRUCT_TOPLC2</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{B507963E-69F3-4B64-BB8C-2BD7A560976D}">NCAXLESTRUCT_TOPLC3</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{F794B740-82D7-4637-848E-4F74A711D038}">NCAXLESTRUCT_TOPLC4</Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}"></Type>
+				</Relation>
+				<Relation Priority="100">
+					<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}"></Type>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">PLCTONC_AXIS_REF_CTRL</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Enable</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnablePlus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnableMinus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingSensor</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AcceptBlockedDrive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>30</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>31</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
+			<BitSize>1024</BitSize>
+			<SubItem>
+				<Name>ControlDWord</Name>
+				<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Override</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeRequest</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeDWord</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeLReal</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PositionCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>320</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>384</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>448</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtControllerOutput</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>512</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio1</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>576</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio2</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>640</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio3</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>704</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio4</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>768</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>MapState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>832</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleControl</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>840</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleCount</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>848</BitOffs>
+			</SubItem>
+			<Properties>
+				<Property>
+					<Name>NcStructType</Name>
+					<Value>1</Value>
+				</Property>
+			</Properties>
+			<Relations>
+				<Relation Priority="100">
+					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
+				</Relation>
+			</Relations>
+		</DataType>
+	</DataTypes>
 	<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="1">
+				<Name>PlcTask Inputs</Name>
+				<Var>
+					<Name>GVL.astAxes[1].stInputs.bLimitFwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[1].stInputs.bLimitBwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[1].stInputs.bHomeSensor</Name>
+					<Comment><![CDATA[Reference siganl for homing]]></Comment>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[1].Axis.NcToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stInputs.bLimitFwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stInputs.bLimitBwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stInputs.bHomeSensor</Name>
+					<Comment><![CDATA[Reference siganl for homing]]></Comment>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].Axis.NcToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[3].stInputs.bLimitFwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[3].stInputs.bLimitBwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[3].stInputs.bHomeSensor</Name>
+					<Comment><![CDATA[Reference siganl for homing]]></Comment>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[3].Axis.NcToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[4].stInputs.bLimitFwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[4].stInputs.bLimitBwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[4].stInputs.bHomeSensor</Name>
+					<Comment><![CDATA[Reference siganl for homing]]></Comment>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[4].Axis.NcToPlc</Name>
+					<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+				</Var>
+			</Vars>
 			<Vars VarGrpType="2" AreaNo="1">
 				<Name>PlcTask Outputs</Name>
 				<Var>
@@ -11,6 +981,38 @@
 					<Comment><![CDATA[Outputs: Power for Limit switches and Home Sensors (every 4th output)]]></Comment>
 					<Type>BOOL</Type>
 				</Var>
+				<Var>
+					<Name>limitsPower.bEnableAxis1Limits</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>limitsPower.bEnableAxis2Limits</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>limitsPower.bEnableAxis1Enc</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>limitsPower.bEnableAxis2Enc</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[1].Axis.PlcToNc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].Axis.PlcToNc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[3].Axis.PlcToNc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[4].Axis.PlcToNc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+				</Var>
 			</Vars>
 			<Contexts>
 				<Context>
@@ -28,4 +1030,40 @@
 			</TaskPouOids>
 		</Instance>
 	</Project>
+	<Mappings>
+		<OwnerA Name="tc_project_app Instance">
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 2 (EL1808)">
+				<Link VarA="PlcTask Inputs^GVL.astAxes[1].stInputs.bHomeSensor" VarB="Channel 3^Input" Size="1"/>
+				<Link VarA="PlcTask Inputs^GVL.astAxes[1].stInputs.bLimitBwd" VarB="Channel 2^Input" Size="1"/>
+				<Link VarA="PlcTask Inputs^GVL.astAxes[1].stInputs.bLimitFwd" VarB="Channel 1^Input" Size="1"/>
+				<Link VarA="PlcTask Inputs^GVL.astAxes[2].stInputs.bHomeSensor" VarB="Channel 7^Input" Size="1"/>
+				<Link VarA="PlcTask Inputs^GVL.astAxes[2].stInputs.bLimitBwd" VarB="Channel 5^Input" Size="1"/>
+				<Link VarA="PlcTask Inputs^GVL.astAxes[2].stInputs.bLimitFwd" VarB="Channel 6^Input" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 3 (EL2819)">
+				<Link VarA="PlcTask Outputs^limitsPower.bEnableAxis1Limits" VarB="DIG Outputs^Channel 1^Output" Size="1"/>
+				<Link VarA="PlcTask Outputs^limitsPower.bEnableAxis2Limits" VarB="DIG Outputs^Channel 5^Output" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 5 (EL2014)">
+				<Link VarA="PlcTask Outputs^limitsPower.bEnableAxis1Enc" VarB="DIG Outputs^Channel 1^Output" Size="1"/>
+				<Link VarA="PlcTask Outputs^limitsPower.bEnableAxis2Enc" VarB="DIG Outputs^Channel 2^Output" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^bladeNeg">
+				<Link VarA="PlcTask Inputs^GVL.astAxes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.astAxes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^bladePos">
+				<Link VarA="PlcTask Inputs^GVL.astAxes[2].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.astAxes[2].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^gapCentre">
+				<Link VarA="PlcTask Inputs^GVL.astAxes[4].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.astAxes[4].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^gapSize">
+				<Link VarA="PlcTask Inputs^GVL.astAxes[3].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.astAxes[3].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
+		</OwnerA>
+	</Mappings>
 </TcSmItem>
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 357f4ec..3d5ac78 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,6 +1,87 @@
 <?xml version="1.0"?>
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.11">
-	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
+	<DataTypes>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
+			<BitSize>4</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>4</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
+			<BitSize>9</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>9</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
+			<BitSize>1</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>1</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
+			<BitSize>3</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>3</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
+			<BitSize>8</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>1</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
+			<BitSize>5</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>5</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000006}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..5] OF BIT</Name>
+			<BitSize>6</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>6</Elements>
+			</ArrayInfo>
+		</DataType>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
+			<BitSize>2</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>2</Elements>
+			</ArrayInfo>
+		</DataType>
+	</DataTypes>
+	<ImageDatas>
+		<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
+		<ImageData Id="1001">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000120b0000120b00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
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+		<ImageData Id="1004">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ff00bfffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c080808000bfff00bfff00bfff00bfff00bfffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ff00bfffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
+	</ImageDatas>
+	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="5.65.74.200.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
 			<Settings>
 				<IoIdleTask Priority="6"/>
@@ -17,5 +98,1407 @@
 		<Plc>
 			<Project File="tc_project_app.xti"/>
 		</Plc>
+		<Io>
+			<Device Id="1" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="5.65.74.200.2.1" RemoteName="Device 1 (EtherCAT)">
+				<Name>Device 1 (EtherCAT)</Name>
+				<AddressInfo>
+					<Ccat>
+						<Address>-801112064</Address>
+						<Offset>131072</Offset>
+						<Size>8192</Size>
+						<BaseAddr>0</BaseAddr>
+						<BusNo>3</BusNo>
+						<SlotNo>0</SlotNo>
+						<VendorId>5612</VendorId>
+						<DeviceId>20480</DeviceId>
+						<Dma>
+							<Address>0</Address>
+							<Offset>4096</Offset>
+							<Size>12288</Size>
+							<BaseAddr>2</BaseAddr>
+							<RxChn>0</RxChn>
+							<TxChn>1</TxChn>
+						</Dma>
+						<TimeSize>128</TimeSize>
+						<TimeOffs>1024</TimeOffs>
+						<GpioSize>32</GpioSize>
+						<GpioOffs>768</GpioOffs>
+						<EepromSize>32</EepromSize>
+						<EepromOffs>512</EepromOffs>
+						<IntCtrlSize>16</IntCtrlSize>
+						<IntCtrlOffs>640</IntCtrlOffs>
+						<Identification>
+							<Value>1795167326</Value>
+							<Version>1</Version>
+							<Size>256</Size>
+						</Identification>
+					</Ccat>
+				</AddressInfo>
+				<Image Id="2" AddrType="9" ImageType="3">
+					<Name>Image</Name>
+				</Image>
+				<Image Id="4" AddrType="10" ImageType="3">
+					<Name>Image-2</Name>
+				</Image>
+				<Box Id="1" BoxType="9099">
+					<Name>Term 1 (EK1200)</Name>
+					<ImageId>1000</ImageId>
+					<EtherCAT PdiType="#x0100" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04b02c52" RevisionNo="#x00001388" InfoDataState="false" PortPhys="49" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1200-5000 EtherCAT Power supply (2A E-Bus)" Desc="EK1200" PortABoxInfo="#x00ffffff"/>
+					<Box Id="2" BoxType="9099">
+						<Name>Term 2 (EL1808)</Name>
+						<ImageId>7</ImageId>
+						<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x07103052" RevisionNo="#x00120000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL1808 8Ch. Dig. Input 24V, 3ms" Desc="EL1808" PortABoxInfo="#x01000001">
+							<SyncMan>001001000000010004000000000000000100001000010000</SyncMan>
+							<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
+							<Pdo Name="Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6000" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6030" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="Channel 5" Index="#x1a04" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6040" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="Channel 6" Index="#x1a05" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6050" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="Channel 7" Index="#x1a06" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6060" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="Channel 8" Index="#x1a07" Flags="#x0011" SyncMan="0">
+								<Entry Name="Input" BitLen="1" Index="#x6070" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+						</EtherCAT>
+					</Box>
+					<Box Id="3" BoxType="9099" BoxFlags="#x00000020">
+						<Name>Term 3 (EL2819)</Name>
+						<ImageId>1001</ImageId>
+						<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x0b033052" RevisionNo="#x00120000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL2819 16Ch. Dig. Output 24V, 0,5A, Diagnostic" Desc="EL2819" PortABoxInfo="#x01000002">
+							<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
+							<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
+							<SyncMan>001102002400010003000000000000000200001124010000</SyncMan>
+							<SyncMan>801109002000010004000000000000000800801120010000</SyncMan>
+							<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
+							<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
+							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
+							<BootStrapData>0010f400f410f400</BootStrapData>
+							<Pdo Name="DIG Diag Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
+								<Entry Name="Channel 1__Overtemperature" BitLen="1" Index="#x6001" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 1__Open Load" BitLen="1" Index="#x6001" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 1__Overcurrent" BitLen="1" Index="#x6001" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 1__Short Circuit to 24V" BitLen="1" Index="#x6001" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Overtemperature" BitLen="1" Index="#x6011" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Open Load" BitLen="1" Index="#x6011" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Overcurrent" BitLen="1" Index="#x6011" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Short Circuit to 24V" BitLen="1" Index="#x6011" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Overtemperature" BitLen="1" Index="#x6021" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Open Load" BitLen="1" Index="#x6021" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Overcurrent" BitLen="1" Index="#x6021" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Short Circuit to 24V" BitLen="1" Index="#x6021" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Overtemperature" BitLen="1" Index="#x6031" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Open Load" BitLen="1" Index="#x6031" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Overcurrent" BitLen="1" Index="#x6031" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Short Circuit to 24V" BitLen="1" Index="#x6031" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 5__Overtemperature" BitLen="1" Index="#x6041" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 5__Open Load" BitLen="1" Index="#x6041" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 5__Overcurrent" BitLen="1" Index="#x6041" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 5__Short Circuit to 24V" BitLen="1" Index="#x6041" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 6__Overtemperature" BitLen="1" Index="#x6051" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 6__Open Load" BitLen="1" Index="#x6051" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 6__Overcurrent" BitLen="1" Index="#x6051" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 6__Short Circuit to 24V" BitLen="1" Index="#x6051" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 7__Overtemperature" BitLen="1" Index="#x6061" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 7__Open Load" BitLen="1" Index="#x6061" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 7__Overcurrent" BitLen="1" Index="#x6061" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 7__Short Circuit to 24V" BitLen="1" Index="#x6061" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 8__Overtemperature" BitLen="1" Index="#x6071" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 8__Open Load" BitLen="1" Index="#x6071" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 8__Overcurrent" BitLen="1" Index="#x6071" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 8__Short Circuit to 24V" BitLen="1" Index="#x6071" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 9__Overtemperature" BitLen="1" Index="#x6081" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 9__Open Load" BitLen="1" Index="#x6081" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 9__Overcurrent" BitLen="1" Index="#x6081" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 9__Short Circuit to 24V" BitLen="1" Index="#x6081" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 10__Overtemperature" BitLen="1" Index="#x6091" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 10__Open Load" BitLen="1" Index="#x6091" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 10__Overcurrent" BitLen="1" Index="#x6091" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 10__Short Circuit to 24V" BitLen="1" Index="#x6091" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 11__Overtemperature" BitLen="1" Index="#x60a1" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 11__Open Load" BitLen="1" Index="#x60a1" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 11__Overcurrent" BitLen="1" Index="#x60a1" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 11__Short Circuit to 24V" BitLen="1" Index="#x60a1" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 12__Overtemperature" BitLen="1" Index="#x60b1" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 12__Open Load" BitLen="1" Index="#x60b1" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 12__Overcurrent" BitLen="1" Index="#x60b1" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 12__Short Circuit to 24V" BitLen="1" Index="#x60b1" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 13__Overtemperature" BitLen="1" Index="#x60c1" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 13__Open Load" BitLen="1" Index="#x60c1" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 13__Overcurrent" BitLen="1" Index="#x60c1" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 13__Short Circuit to 24V" BitLen="1" Index="#x60c1" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 14__Overtemperature" BitLen="1" Index="#x60d1" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 14__Open Load" BitLen="1" Index="#x60d1" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 14__Overcurrent" BitLen="1" Index="#x60d1" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 14__Short Circuit to 24V" BitLen="1" Index="#x60d1" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 15__Overtemperature" BitLen="1" Index="#x60e1" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 15__Open Load" BitLen="1" Index="#x60e1" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 15__Overcurrent" BitLen="1" Index="#x60e1" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 15__Short Circuit to 24V" BitLen="1" Index="#x60e1" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 16__Overtemperature" BitLen="1" Index="#x60f1" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 16__Open Load" BitLen="1" Index="#x60f1" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 16__Overcurrent" BitLen="1" Index="#x60f1" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 16__Short Circuit to 24V" BitLen="1" Index="#x60f1" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="DIG Inputs Device" Index="#x1a02" Flags="#x0010" SyncMan="3">
+								<Entry Name="Common Fault" BitLen="1" Index="#xf600" Sub="#x11">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Overtemperature Device" BitLen="1" Index="#xf600" Sub="#x12">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Undervoltage" BitLen="1" Index="#xf600" Sub="#x13">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Missing Voltage" BitLen="1" Index="#xf600" Sub="#x14">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="DIG Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
+								<Entry Name="Channel 1__Output" BitLen="1" Index="#x7000" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Output" BitLen="1" Index="#x7010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Output" BitLen="1" Index="#x7020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Output" BitLen="1" Index="#x7030" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 5__Output" BitLen="1" Index="#x7040" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 6__Output" BitLen="1" Index="#x7050" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 7__Output" BitLen="1" Index="#x7060" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 8__Output" BitLen="1" Index="#x7070" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 9__Output" BitLen="1" Index="#x7080" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 10__Output" BitLen="1" Index="#x7090" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 11__Output" BitLen="1" Index="#x70a0" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 12__Output" BitLen="1" Index="#x70b0" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 13__Output" BitLen="1" Index="#x70c0" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 14__Output" BitLen="1" Index="#x70d0" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 15__Output" BitLen="1" Index="#x70e0" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 16__Output" BitLen="1" Index="#x70f0" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+						</EtherCAT>
+					</Box>
+					<Box Id="4" BoxType="9099" BoxFlags="#x00000020">
+						<Name>Term 4 (EL5002)</Name>
+						<ImageId>1002</ImageId>
+						<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x138a3052" RevisionNo="#x00140000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL5002 2Ch. SSI Encoder" Desc="EL5002" PortABoxInfo="#x01000003">
+							<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
+							<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
+							<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
+							<SyncMan>80110c002000010004000000000000000c00801120010000</SyncMan>
+							<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
+							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
+							<BootStrapData>0010f400f410f400</BootStrapData>
+							<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
+							<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000000000000983a0000000000070100000000000000000000000000000000000000000000000000000000000000</DcMode>
+							<DcMode>4443494e00000000000000000000000044432d53796e6368726f6e2028696e70757420626173656429000000000000000000000000000000983a0000000000070100000000000000000001000000000000000000000000000000000000000000</DcMode>
+							<MBoxUserCmdData>02000300090000000000000000000000000000000000000000000000000000002082f001010000000000</MBoxUserCmdData>
+							<Pdo Name="SSI Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
+								<Entry Name="Status__Data error" BitLen="1" Index="#x6000" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Frame error" BitLen="1" Index="#x6000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Power failure" BitLen="1" Index="#x6000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Data mismatch" BitLen="1" Index="#x6000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="9">
+									<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6000" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO State" BitLen="1" Index="#x6000" Sub="#x0f">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6000" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Counter value" BitLen="32" Index="#x6000" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="SSI Inputs Channel 2" Index="#x1a01" Flags="#x0010" SyncMan="3">
+								<Entry Name="Status__Data error" BitLen="1" Index="#x6010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Frame error" BitLen="1" Index="#x6010" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Power failure" BitLen="1" Index="#x6010" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Data mismatch" BitLen="1" Index="#x6010" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="9">
+									<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6010" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO State" BitLen="1" Index="#x6010" Sub="#x0f">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6010" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Counter value" BitLen="32" Index="#x6010" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<CoeProfile ProfileNo="32838537"/>
+							<CoeProfile ProfileNo="32838537"/>
+						</EtherCAT>
+					</Box>
+					<Box Id="5" BoxType="9099" BoxFlags="#x00000020">
+						<Name>Term 5 (EL2014)</Name>
+						<ImageId>1001</ImageId>
+						<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x07de3052" RevisionNo="#x00110000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL2014 4Ch. Dig. Output 24V, 0,5A, Diagnostic" Desc="EL2014" PortABoxInfo="#x01000004">
+							<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
+							<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
+							<SyncMan>001101002400010003000000000000000100001124010000</SyncMan>
+							<SyncMan>801103002000010004000000000000000300801120010000</SyncMan>
+							<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
+							<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
+							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
+							<BootStrapData>0010f400f410f400</BootStrapData>
+							<Pdo Name="DIG Diag Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
+								<Entry Name="Channel 1__Overtemperature" BitLen="1" Index="#x6001" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 1__Open Load" BitLen="1" Index="#x6001" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 1__Overcurrent" BitLen="1" Index="#x6001" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 1__Short Circuit to 24V" BitLen="1" Index="#x6001" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Overtemperature" BitLen="1" Index="#x6011" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Open Load" BitLen="1" Index="#x6011" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Overcurrent" BitLen="1" Index="#x6011" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Short Circuit to 24V" BitLen="1" Index="#x6011" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Overtemperature" BitLen="1" Index="#x6021" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Open Load" BitLen="1" Index="#x6021" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Overcurrent" BitLen="1" Index="#x6021" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Short Circuit to 24V" BitLen="1" Index="#x6021" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Overtemperature" BitLen="1" Index="#x6031" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Open Load" BitLen="1" Index="#x6031" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Overcurrent" BitLen="1" Index="#x6031" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Short Circuit to 24V" BitLen="1" Index="#x6031" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="DIG Inputs Device" Index="#x1a02" Flags="#x0010" SyncMan="3">
+								<Entry Name="Common Fault" BitLen="1" Index="#xf600" Sub="#x11">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Overtemperature Device" BitLen="1" Index="#xf600" Sub="#x12">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Undervoltage" BitLen="1" Index="#xf600" Sub="#x13">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Missing Voltage" BitLen="1" Index="#xf600" Sub="#x14">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="DIG Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
+								<Entry Name="Channel 1__Output" BitLen="1" Index="#x7000" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 2__Output" BitLen="1" Index="#x7010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 3__Output" BitLen="1" Index="#x7020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Channel 4__Output" BitLen="1" Index="#x7030" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+							<CoeProfile ProfileNo="18355081"/>
+						</EtherCAT>
+					</Box>
+					<Box Id="6" BoxType="9099" BoxFlags="#x00000020">
+						<Name>Term 6 (EL7041-0052)</Name>
+						<ImageId>1003</ImageId>
+						<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1b813052" RevisionNo="#x00100034" InfoDataAddr="true" InfoDataSoeDS401="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7041-0052 1Ch. Stepper motor output stage (50V, 5A)" Desc="EL7041-0052" PortABoxInfo="#x01000005">
+							<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
+							<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
+							<SyncMan>00110a002400010003000000000000000800001124010000</SyncMan>
+							<SyncMan>80110c002000010004000000000000000800801120010000</SyncMan>
+							<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
+							<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
+							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
+							<BootStrapData>0010f400f410f400</BootStrapData>
+							<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
+							<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
+							<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000003400100000</MBoxUserCmdData>
+							<MBoxUserCmdData>004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
+							<MBoxUserCmdData>020003000a0000000f00000000000000000000000000000000000000000000002010800102000000dc054d6178696d616c2063757272656e7400</MBoxUserCmdData>
+							<MBoxUserCmdData>020003000a0000000f00000000000000000000000000000000000000000000002010800202000000f401526564756365642063757272656e7400</MBoxUserCmdData>
+							<MBoxUserCmdData>020003000a0000000f00000000000000000000000000000000000000000000002010800302000000c05d4e6f6d696e616c20766f6c7461676500</MBoxUserCmdData>
+							<MBoxUserCmdData>02000300090000000b000000000000000000000000000000000000000000000020128005010000000153706565642072616e676500</MBoxUserCmdData>
+							<Pdo Name="ENC Status compact" Index="#x1a00" Flags="#x0010">
+								<ExcludePdo>#x1a01</ExcludePdo>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Latch extern valid" BitLen="1" Index="#x6000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Set counter done" BitLen="1" Index="#x6000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter underflow" BitLen="1" Index="#x6000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter overflow" BitLen="1" Index="#x6000" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="3">
+									<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Status of extern latch" BitLen="1" Index="#x6000" Sub="#x0d">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6000" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6000" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Counter value" BitLen="16" Index="#x6000" Sub="#x11">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Latch value" BitLen="16" Index="#x6000" Sub="#x12">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Status" Index="#x1a01" Flags="#x0010" SyncMan="3">
+								<ExcludePdo>#x1a00</ExcludePdo>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Latch extern valid" BitLen="1" Index="#x6000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Set counter done" BitLen="1" Index="#x6000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter underflow" BitLen="1" Index="#x6000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter overflow" BitLen="1" Index="#x6000" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="3">
+									<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Status of extern latch" BitLen="1" Index="#x6000" Sub="#x0d">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6000" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6000" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Counter value" BitLen="32" Index="#x6000" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Latch value" BitLen="32" Index="#x6000" Sub="#x12">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Timest. compact" Index="#x1a02" Flags="#x0010">
+								<Entry Name="Timestamp" BitLen="32" Index="#x6000" Sub="#x16">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Status" Index="#x1a03" Flags="#x0010" SyncMan="3">
+								<Entry Name="Status__Ready to enable" BitLen="1" Index="#x6010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Ready" BitLen="1" Index="#x6010" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Warning" BitLen="1" Index="#x6010" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Error" BitLen="1" Index="#x6010" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Moving positive" BitLen="1" Index="#x6010" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Moving negative" BitLen="1" Index="#x6010" Sub="#x06">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Torque reduced" BitLen="1" Index="#x6010" Sub="#x07">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="3">
+									<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Digital input 1" BitLen="1" Index="#x6010" Sub="#x0c">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Digital input 2" BitLen="1" Index="#x6010" Sub="#x0d">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6010" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6010" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Synchron info data" Index="#x1a04" Flags="#x0010">
+								<Entry Name="Info data 1" BitLen="16" Index="#x6010" Sub="#x11">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Info data 2" BitLen="16" Index="#x6010" Sub="#x12">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Status compact" Index="#x1a05" Flags="#x0010">
+								<ExcludePdo>#x1a06</ExcludePdo>
+								<Entry Name="Status__Busy" BitLen="1" Index="#x6020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__In-Target" BitLen="1" Index="#x6020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Warning" BitLen="1" Index="#x6020" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Error" BitLen="1" Index="#x6020" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Calibrated" BitLen="1" Index="#x6020" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Accelerate" BitLen="1" Index="#x6020" Sub="#x06">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Decelerate" BitLen="1" Index="#x6020" Sub="#x07">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Ready to execute" BitLen="1" Index="#x6020" Sub="#x08">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Status" Index="#x1a06" Flags="#x0010">
+								<ExcludePdo>#x1a05</ExcludePdo>
+								<Entry Name="Status__Busy" BitLen="1" Index="#x6020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__In-Target" BitLen="1" Index="#x6020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Warning" BitLen="1" Index="#x6020" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Error" BitLen="1" Index="#x6020" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Calibrated" BitLen="1" Index="#x6020" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Accelerate" BitLen="1" Index="#x6020" Sub="#x06">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Decelerate" BitLen="1" Index="#x6020" Sub="#x07">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Ready to execute" BitLen="1" Index="#x6020" Sub="#x08">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Actual position" BitLen="32" Index="#x6020" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Actual velocity" BitLen="16" Index="#x6020" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+								<Entry Name="Actual drive time" BitLen="32" Index="#x6020" Sub="#x22">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Internal position" Index="#x1a07" Flags="#x0010">
+								<Entry Name="Internal position" BitLen="32" Index="#x6010" Sub="#x14">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM External position" Index="#x1a08" Flags="#x0010">
+								<Entry Name="External position" BitLen="32" Index="#x6010" Sub="#x15">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Actual position lag" Index="#x1a09" Flags="#x0010">
+								<Entry Name="Actual position lag" BitLen="32" Index="#x6020" Sub="#x23">
+									<Type>DINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Control compact" Index="#x1600" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1601</ExcludePdo>
+								<Entry Name="Control__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on positive edge" BitLen="1" Index="#x7000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Set counter" BitLen="1" Index="#x7000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on negative edge" BitLen="1" Index="#x7000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Set counter value" BitLen="16" Index="#x7000" Sub="#x11">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Control" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
+								<ExcludePdo>#x1600</ExcludePdo>
+								<Entry Name="Control__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on positive edge" BitLen="1" Index="#x7000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Set counter" BitLen="1" Index="#x7000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on negative edge" BitLen="1" Index="#x7000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Set counter value" BitLen="32" Index="#x7000" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Control" Index="#x1602" InOut="1" Flags="#x0010" SyncMan="2">
+								<Entry Name="Control__Enable" BitLen="1" Index="#x7010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Reset" BitLen="1" Index="#x7010" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Reduce torque" BitLen="1" Index="#x7010" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="5">
+									<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Position" Index="#x1603" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<ExcludePdo>#x1606</ExcludePdo>
+								<Entry Name="Position" BitLen="32" Index="#x7010" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Velocity" Index="#x1604" InOut="1" Flags="#x0010" SyncMan="2">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<ExcludePdo>#x1606</ExcludePdo>
+								<Entry Name="Velocity" BitLen="16" Index="#x7010" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Control compact" Index="#x1605" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1606</ExcludePdo>
+								<Entry Name="Control__Execute" BitLen="1" Index="#x7020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Emergency stop" BitLen="1" Index="#x7020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="6">
+									<Type GUID="{18071995-0000-0000-0000-002000000006}">ARRAY [0..5] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Target position" BitLen="32" Index="#x7020" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Control" Index="#x1606" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<Entry Name="Control__Execute" BitLen="1" Index="#x7020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Emergency stop" BitLen="1" Index="#x7020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="6">
+									<Type GUID="{18071995-0000-0000-0000-002000000006}">ARRAY [0..5] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Target position" BitLen="32" Index="#x7020" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Velocity" BitLen="16" Index="#x7020" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+								<Entry Name="Start type" BitLen="16" Index="#x7020" Sub="#x22">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Acceleration" BitLen="16" Index="#x7020" Sub="#x23">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Deceleration" BitLen="16" Index="#x7020" Sub="#x24">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Control 2" Index="#x1607" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<Entry Name="Control__" BitLen="2">
+									<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable auto start" BitLen="1" Index="#x7021" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="5">
+									<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Target position" BitLen="32" Index="#x7021" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Velocity" BitLen="16" Index="#x7021" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+								<Entry Name="Start type" BitLen="16" Index="#x7021" Sub="#x22">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Acceleration" BitLen="16" Index="#x7021" Sub="#x23">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Deceleration" BitLen="16" Index="#x7021" Sub="#x24">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<CoeProfile ProfileNo="33493897" DisplayName="Stepper interface"/>
+							<CoeProfile ProfileNo="46076809" DisplayName="Stepper interface"/>
+							<CoeProfile ProfileNo="46142345" DisplayName="Positioning interfa"/>
+						</EtherCAT>
+					</Box>
+					<Box Id="7" BoxType="9099" BoxFlags="#x00000020">
+						<Name>Term 7 (EL7041-0052)</Name>
+						<ImageId>1003</ImageId>
+						<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1b813052" RevisionNo="#x00100034" InfoDataAddr="true" InfoDataSoeDS401="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7041-0052 1Ch. Stepper motor output stage (50V, 5A)" Desc="EL7041-0052" PortABoxInfo="#x01000006">
+							<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
+							<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
+							<SyncMan>00110a002400010003000000000000000800001124010000</SyncMan>
+							<SyncMan>80110c002000010004000000000000000800801120010000</SyncMan>
+							<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
+							<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
+							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
+							<BootStrapData>0010f400f410f400</BootStrapData>
+							<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
+							<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
+							<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000003400100000</MBoxUserCmdData>
+							<MBoxUserCmdData>004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
+							<MBoxUserCmdData>020003000a0000000f00000000000000000000000000000000000000000000002010800102000000dc054d6178696d616c2063757272656e7400</MBoxUserCmdData>
+							<MBoxUserCmdData>020003000a0000000f00000000000000000000000000000000000000000000002010800202000000f401526564756365642063757272656e7400</MBoxUserCmdData>
+							<MBoxUserCmdData>020003000a0000000f00000000000000000000000000000000000000000000002010800302000000c05d4e6f6d696e616c20766f6c7461676500</MBoxUserCmdData>
+							<MBoxUserCmdData>02000300090000000b000000000000000000000000000000000000000000000020128005010000000153706565642072616e676500</MBoxUserCmdData>
+							<Pdo Name="ENC Status compact" Index="#x1a00" Flags="#x0010">
+								<ExcludePdo>#x1a01</ExcludePdo>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Latch extern valid" BitLen="1" Index="#x6000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Set counter done" BitLen="1" Index="#x6000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter underflow" BitLen="1" Index="#x6000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter overflow" BitLen="1" Index="#x6000" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="3">
+									<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Status of extern latch" BitLen="1" Index="#x6000" Sub="#x0d">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6000" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6000" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Counter value" BitLen="16" Index="#x6000" Sub="#x11">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Latch value" BitLen="16" Index="#x6000" Sub="#x12">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Status" Index="#x1a01" Flags="#x0010" SyncMan="3">
+								<ExcludePdo>#x1a00</ExcludePdo>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Latch extern valid" BitLen="1" Index="#x6000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Set counter done" BitLen="1" Index="#x6000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter underflow" BitLen="1" Index="#x6000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Counter overflow" BitLen="1" Index="#x6000" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="3">
+									<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
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+								<Entry Name="Status__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Status of extern latch" BitLen="1" Index="#x6000" Sub="#x0d">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6000" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6000" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Counter value" BitLen="32" Index="#x6000" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Latch value" BitLen="32" Index="#x6000" Sub="#x12">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Timest. compact" Index="#x1a02" Flags="#x0010">
+								<Entry Name="Timestamp" BitLen="32" Index="#x6000" Sub="#x16">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Status" Index="#x1a03" Flags="#x0010" SyncMan="3">
+								<Entry Name="Status__Ready to enable" BitLen="1" Index="#x6010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Ready" BitLen="1" Index="#x6010" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Warning" BitLen="1" Index="#x6010" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Error" BitLen="1" Index="#x6010" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Moving positive" BitLen="1" Index="#x6010" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Moving negative" BitLen="1" Index="#x6010" Sub="#x06">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Torque reduced" BitLen="1" Index="#x6010" Sub="#x07">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="3">
+									<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__Digital input 1" BitLen="1" Index="#x6010" Sub="#x0c">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Digital input 2" BitLen="1" Index="#x6010" Sub="#x0d">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Sync error" BitLen="1" Index="#x6010" Sub="#x0e">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Status__TxPDO Toggle" BitLen="1" Index="#x6010" Sub="#x10">
+									<Type>BIT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Synchron info data" Index="#x1a04" Flags="#x0010">
+								<Entry Name="Info data 1" BitLen="16" Index="#x6010" Sub="#x11">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Info data 2" BitLen="16" Index="#x6010" Sub="#x12">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Status compact" Index="#x1a05" Flags="#x0010">
+								<ExcludePdo>#x1a06</ExcludePdo>
+								<Entry Name="Status__Busy" BitLen="1" Index="#x6020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__In-Target" BitLen="1" Index="#x6020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Warning" BitLen="1" Index="#x6020" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Error" BitLen="1" Index="#x6020" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Calibrated" BitLen="1" Index="#x6020" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Accelerate" BitLen="1" Index="#x6020" Sub="#x06">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Decelerate" BitLen="1" Index="#x6020" Sub="#x07">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Ready to execute" BitLen="1" Index="#x6020" Sub="#x08">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Status" Index="#x1a06" Flags="#x0010">
+								<ExcludePdo>#x1a05</ExcludePdo>
+								<Entry Name="Status__Busy" BitLen="1" Index="#x6020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__In-Target" BitLen="1" Index="#x6020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Warning" BitLen="1" Index="#x6020" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Error" BitLen="1" Index="#x6020" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Calibrated" BitLen="1" Index="#x6020" Sub="#x05">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Accelerate" BitLen="1" Index="#x6020" Sub="#x06">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Decelerate" BitLen="1" Index="#x6020" Sub="#x07">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__Ready to execute" BitLen="1" Index="#x6020" Sub="#x08">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Status__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Actual position" BitLen="32" Index="#x6020" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Actual velocity" BitLen="16" Index="#x6020" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+								<Entry Name="Actual drive time" BitLen="32" Index="#x6020" Sub="#x22">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Internal position" Index="#x1a07" Flags="#x0010">
+								<Entry Name="Internal position" BitLen="32" Index="#x6010" Sub="#x14">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM External position" Index="#x1a08" Flags="#x0010">
+								<Entry Name="External position" BitLen="32" Index="#x6010" Sub="#x15">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Actual position lag" Index="#x1a09" Flags="#x0010">
+								<Entry Name="Actual position lag" BitLen="32" Index="#x6020" Sub="#x23">
+									<Type>DINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Control compact" Index="#x1600" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1601</ExcludePdo>
+								<Entry Name="Control__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on positive edge" BitLen="1" Index="#x7000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Set counter" BitLen="1" Index="#x7000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on negative edge" BitLen="1" Index="#x7000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Set counter value" BitLen="16" Index="#x7000" Sub="#x11">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="ENC Control" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
+								<ExcludePdo>#x1600</ExcludePdo>
+								<Entry Name="Control__" BitLen="1">
+									<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on positive edge" BitLen="1" Index="#x7000" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Set counter" BitLen="1" Index="#x7000" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable latch extern on negative edge" BitLen="1" Index="#x7000" Sub="#x04">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="4">
+									<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Set counter value" BitLen="32" Index="#x7000" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Control" Index="#x1602" InOut="1" Flags="#x0010" SyncMan="2">
+								<Entry Name="Control__Enable" BitLen="1" Index="#x7010" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Reset" BitLen="1" Index="#x7010" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Reduce torque" BitLen="1" Index="#x7010" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="5">
+									<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Position" Index="#x1603" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<ExcludePdo>#x1606</ExcludePdo>
+								<Entry Name="Position" BitLen="32" Index="#x7010" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="STM Velocity" Index="#x1604" InOut="1" Flags="#x0010" SyncMan="2">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<ExcludePdo>#x1606</ExcludePdo>
+								<Entry Name="Velocity" BitLen="16" Index="#x7010" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Control compact" Index="#x1605" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1606</ExcludePdo>
+								<Entry Name="Control__Execute" BitLen="1" Index="#x7020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Emergency stop" BitLen="1" Index="#x7020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="6">
+									<Type GUID="{18071995-0000-0000-0000-002000000006}">ARRAY [0..5] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Target position" BitLen="32" Index="#x7020" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Control" Index="#x1606" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<Entry Name="Control__Execute" BitLen="1" Index="#x7020" Sub="#x01">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__Emergency stop" BitLen="1" Index="#x7020" Sub="#x02">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="6">
+									<Type GUID="{18071995-0000-0000-0000-002000000006}">ARRAY [0..5] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Target position" BitLen="32" Index="#x7020" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Velocity" BitLen="16" Index="#x7020" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+								<Entry Name="Start type" BitLen="16" Index="#x7020" Sub="#x22">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Acceleration" BitLen="16" Index="#x7020" Sub="#x23">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Deceleration" BitLen="16" Index="#x7020" Sub="#x24">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<Pdo Name="POS Control 2" Index="#x1607" InOut="1" Flags="#x0010">
+								<ExcludePdo>#x1603</ExcludePdo>
+								<ExcludePdo>#x1604</ExcludePdo>
+								<ExcludePdo>#x1605</ExcludePdo>
+								<Entry Name="Control__" BitLen="2">
+									<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__Enable auto start" BitLen="1" Index="#x7021" Sub="#x03">
+									<Type>BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="5">
+									<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
+								</Entry>
+								<Entry Name="Control__" BitLen="8">
+									<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
+								</Entry>
+								<Entry Name="Target position" BitLen="32" Index="#x7021" Sub="#x11">
+									<Type>UDINT</Type>
+								</Entry>
+								<Entry Name="Velocity" BitLen="16" Index="#x7021" Sub="#x21">
+									<Type>INT</Type>
+								</Entry>
+								<Entry Name="Start type" BitLen="16" Index="#x7021" Sub="#x22">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Acceleration" BitLen="16" Index="#x7021" Sub="#x23">
+									<Type>UINT</Type>
+								</Entry>
+								<Entry Name="Deceleration" BitLen="16" Index="#x7021" Sub="#x24">
+									<Type>UINT</Type>
+								</Entry>
+							</Pdo>
+							<CoeProfile ProfileNo="33493897" DisplayName="Stepper interface"/>
+							<CoeProfile ProfileNo="46076809" DisplayName="Stepper interface"/>
+							<CoeProfile ProfileNo="46142345" DisplayName="Positioning interfa"/>
+						</EtherCAT>
+					</Box>
+					<Box Id="8" BoxType="9099">
+						<Name>Term 8 (EK1110)</Name>
+						<ImageId>1004</ImageId>
+						<EtherCAT SlaveType="1" PdiType="#x0100" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04562c52" RevisionNo="#x00110000" PortPhys="19" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1110 EtherCAT extension" Desc="EK1110" PortABoxInfo="#x01000007"/>
+					</Box>
+				</Box>
+				<EtherCAT/>
+			</Device>
+		</Io>
 	</Project>
+	<Mappings>
+		<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x02030010"/>
+		<MappingInfo Identifier="{00000000-2041-0850-4020-500841000403}" Id="#x02030020"/>
+		<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
+	</Mappings>
 </TcSmProject>
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index 8a98ec7..b6de221 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -2,13 +2,14 @@
 <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
   <GVL Name="GVL_APP" Id="{8fe9690c-7907-432e-bedb-6fc99b5ce255}">
     <Declaration><![CDATA[
+
 {attribute 'qualified_only'}
 VAR_GLOBAL
 
 END_VAR
 
 VAR_GLOBAL CONSTANT
-    nAXIS_NUM : UINT:=0;
+    nAXIS_NUM : UINT:=4;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU
deleted file mode 100644
index dbf45fb..0000000
--- a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
-  <POU Name="Application_Template" Id="{4bdeebc0-15d8-4790-97d0-e9c4239d121c}" SpecialFunc="None">
-    <Declaration><![CDATA[PROGRAM Application_Template
-VAR
-//Define all necessary variables for your application
-END_VAR
-]]></Declaration>
-    <Implementation>
-      <ST><![CDATA[//Program any specific code or safety code for an specific application when it involves multiple axes
-//Eg. Collision avoidance, interlocks, sequencing, etc.]]></ST>
-    </Implementation>
-    <LineIds Name="Application_Template">
-      <LineId Id="5" Count="0" />
-      <LineId Id="10" Count="0" />
-    </LineIds>
-  </POU>
-</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU
new file mode 100644
index 0000000..6ec3f3f
--- /dev/null
+++ b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
+  <POU Name="limitsPower" Id="{7dcb7d67-8fc5-4c4f-a1c9-d3a3a11a9340}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM limitsPower
+VAR
+    bEnableAxis1Limits AT %Q*: BOOL:=TRUE;
+    bEnableAxis2Limits AT %Q*: BOOL:=TRUE;
+    bEnableAxis1Enc AT %Q*: BOOL:=TRUE;
+    bEnableAxis2Enc AT %Q*: BOOL:=TRUE;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+    <LineIds Name="limitsPower">
+      <LineId Id="5" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
deleted file mode 100644
index dfff176..0000000
--- a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
+++ /dev/null
@@ -1,34 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
-  <POU Name="Axis_Template" Id="{1a43acb4-bd2e-4637-97fb-9976d47292b6}" SpecialFunc="None">
-    <Declaration><![CDATA[PROGRAM Axis_Template
-VAR
-
-END_VAR
-]]></Declaration>
-    <Implementation>
-      <ST><![CDATA[//Initial parameters of an Axis
-(*IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
-    //Initial default values:
-    GVL.astAxes[1].stConfig.eHomeSeq := 0;
-    GVL.astAxes[1].stConfig.fHomePosition := 0.0;
-    GVL.astAxes[1].stConfig.fHomeFinishDistance := 0.0;
-END_IF*)
-
-//Define ACTIONS() or write exclusive code for an specific axis.
-//Eg. Stop when temperature reaches certain values, reduce speed if  a signal is activated, etc.
-]]></ST>
-    </Implementation>
-    <LineIds Name="Axis_Template">
-      <LineId Id="20" Count="0" />
-      <LineId Id="5" Count="0" />
-      <LineId Id="13" Count="0" />
-      <LineId Id="17" Count="2" />
-      <LineId Id="14" Count="0" />
-      <LineId Id="22" Count="0" />
-      <LineId Id="21" Count="0" />
-      <LineId Id="24" Count="0" />
-      <LineId Id="23" Count="0" />
-    </LineIds>
-  </POU>
-</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU
new file mode 100644
index 0000000..6326633
--- /dev/null
+++ b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
+  <POU Name="testProg" Id="{6b742e2c-3720-4a26-aa80-15486c69d838}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM testProg
+VAR
+	myFirstSlits : FB_SlitPair;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[GVL.astAxes[1].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Bwd;
+GVL.astAxes[1].stConfig.fHomePosition:=30;
+GVL.astAxes[2].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Fwd;
+GVL.astAxes[2].stConfig.fHomePosition:=-30;
+
+myFirstSlits(iBladeNegative:=2,iBladePositive:=1, iGapSize:=3, iGapCentre:=4);]]></ST>
+    </Implementation>
+    <LineIds Name="testProg">
+      <LineId Id="10" Count="0" />
+      <LineId Id="12" Count="0" />
+      <LineId Id="11" Count="0" />
+      <LineId Id="13" Count="1" />
+      <LineId Id="5" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ 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 2f0aeff..0773ba8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -78,14 +78,9 @@ END_IF]]></ST>
     </Action>
     <Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
       <Implementation>
-        <ST><![CDATA[//Call the programs that are defined in the "Application Specific" folder.
-//Create as many programs in that folder as axes and applications you have or need
-
-//Axes initial parameters and program
-Axis_Template();
-
-//Application program calls
-Application_Template();]]></ST>
+        <ST><![CDATA[testProg();
+limitsPower();
+]]></ST>
       </Implementation>
     </Action>
     <Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
@@ -233,12 +228,7 @@ END_FOR]]></ST>
       <LineId Id="1" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.PROG">
-      <LineId Id="4" Count="1" />
-      <LineId Id="7" Count="0" />
-      <LineId Id="6" Count="0" />
-      <LineId Id="8" Count="0" />
-      <LineId Id="10" Count="0" />
-      <LineId Id="9" Count="0" />
+      <LineId Id="11" Count="1" />
       <LineId Id="3" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.RESTORE_POSITIONS">
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index bc5e78c..735c9fe 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit bc5e78c637180c1baec5294f4974dbd5dd4a9bed
+Subproject commit 735c9fed018b15461215dc17cac36b88494d1c00
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 2d792b5..ed41398 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -27,10 +27,10 @@
     <Compile Include="PlcTask.TcTTO">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Application_Specific\Applications\Application_Template.TcPOU">
+    <Compile Include="POUs\Application_Specific\Applications\limitsPower.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Application_Specific\Axes\Axis_Template.TcPOU">
+    <Compile Include="POUs\Application_Specific\Axes\testProg.TcPOU">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="POUs\MAIN.TcPOU">
@@ -93,6 +93,9 @@
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_SlitPair.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
       <SubType>Code</SubType>
     </Compile>