diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 9e5511d..a883408 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -26,7 +26,7 @@
 						<Name>PlcTask Outputs</Name>
 						<Var>
 							<Name>MAIN.bOutput1</Name>
-							<Comment><![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]></Comment>
+							<Comment><![CDATA[Outputs: Power for Limit switches and Home Sensors (every 4th output)]]></Comment>
 							<Type>BOOL</Type>
 						</Var>
 					</Vars>
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index c284299..a423ad2 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -7,7 +7,7 @@ VAR_GLOBAL
 END_VAR
 
 VAR_GLOBAL CONSTANT
-    axisNum :   UINT:=0;
+    nAXIS_NUM :   UINT:=0;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 1818614..21a3034 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -175,6 +175,11 @@
               <v n="TextDefault">"fPosition"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"149"</v>
+              <v n="TextDefault">"fRatio"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"708"</v>
               <v n="TextDefault">"Free Entries:"</v>
@@ -190,11 +195,26 @@
               <v n="TextDefault">"gearIn"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"717"</v>
+              <v n="TextDefault">"gearInMultiMaster"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"300"</v>
               <v n="TextDefault">"gearOut"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"566"</v>
+              <v n="TextDefault">"homeSensorNeg"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"677"</v>
+              <v n="TextDefault">"homeSensorPos"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"711"</v>
               <v n="TextDefault">"Inactive:"</v>
@@ -235,6 +255,11 @@
               <v n="TextDefault">"moveVelocity"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"575"</v>
+              <v n="TextDefault">"nIndex"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"709"</v>
               <v n="TextDefault">"Overflows:"</v>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 8e73b6a..c0a18e8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -3,45 +3,35 @@
   <POU Name="MAIN" Id="{33eb6f49-7781-4211-a70b-87ada6d80cb7}" SpecialFunc="None">
     <Declaration><![CDATA[PROGRAM MAIN
 VAR
-    sVersion: STRING:='1.0.0';
-    i : UINT; //index variable for AXES()
-    aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
+    sVersion: STRING := '1.0.0';
+    afbAxes: ARRAY [1..GVL_APP.nAXIS_NUM] OF FB_Axis;
+    hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes
 
-    hmiAxisSelection    :   INT:=1;     //Not possible to use local hmi variables for array indexes
-
-(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
-
-    bOutput1 AT %Q*: BOOL:= TRUE;
-    //bOutput2 AT %Q*: BOOL:= TRUE;
-    //bOutput3 AT %Q*: BOOL:= TRUE;
-    //bOutput4 AT %Q*: BOOL:= TRUE;
+//Outputs: Power for Limit switches and Home Sensors (every 4th output)
+    bOutput1 AT %Q*: BOOL := TRUE;
     //bOutput5 AT %Q*: BOOL:= TRUE;
-    //bOutput6 AT %Q*: BOOL:= TRUE;
-    //bOutput7 AT %Q*: BOOL:= TRUE;
-    //bOutput8 AT %Q*: BOOL:= TRUE;
-    //bOutput9 AT %Q*: BOOL:= TRUE;
     //bOutput13 AT %Q*: BOOL:= TRUE;
     //bOutput17 AT %Q*: BOOL:= TRUE;
     //bOutput21 AT %Q*: BOOL:= TRUE;
     //bOutput24 AT %Q*: BOOL:= TRUE;
     //bOutput28 AT %Q*: BOOL:= TRUE;
 
-(******Startup, Shutdown and UPS********)
-    fbUPS                  : FB_S_UPS_CX51x0;
-    eUpsMode               : E_S_UPS_Mode   := eSUPS_WrPersistData_Shutdown;
-    eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, ExecuteRestore, CheckRestore, FinishRestore);
-    bPositionRestoreDone   : BOOL := FALSE;
-    bRestoreExecute        : BOOL := FALSE;
-    bExecuteReadEncRefSys  : BOOL := FALSE;
-    iRetry                 : INT;
-    fbReadEncRefSys        : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
-    fbRestorePosition      : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
-    fbGetDeviceIdentification : FB_GetDeviceIdentification;
-
+//Startup, Shutdown and UPS
+    fbUPS: FB_S_UPS_CX51x0;
+    eUpsMode: E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
+    eStartUp: (eColdStart, eReadAxisFeedbackType, eCheckReadDone, eExecuteRestore, eCheckRestore, eFinishRestore);
+    bPositionRestoreDone: BOOL := FALSE;
+    bRestoreExecute: BOOL := FALSE;
+    bExecuteReadEncRefSys: BOOL := FALSE;
+    nRetry: INT;
+    iAxes : UINT; //index for for loops in Position recovery actions
+    afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
+    afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition;
+    fbGetDeviceIdentification: FB_GetDeviceIdentification;
 END_VAR
 
 VAR PERSISTENT
-    bRestoreOnStartup : BOOL;
+    bRestoreOnStartup: BOOL;
 END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[POSITION_RECOVERY();
@@ -51,31 +41,31 @@ AXES();]]></ST>
     <Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
       <Implementation>
-        <ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
-    aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
+        <ST><![CDATA[FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
+    afbAxes[GVL.iAxis](stAxisStruct := GVL.astAxes[GVL.iAxis]);
 END_FOR]]></ST>
       </Implementation>
     </Action>
     <Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
-        <ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)
+        <ST><![CDATA[fbUPS(eUpsMode := eUpsMode);
 
 IF eGlobalSUpsState = eSUPS_PowerFailure THEN
-    (* first cycle of powerfailure *)
-    (* execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter *)
-    bRestoreOnStartup:=TRUE;
+    //first cycle of powerfailure
+    //execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter
+    bRestoreOnStartup := TRUE;
     STORE_PERSISTENT();
     RETURN;
 ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
-    (* next cycles of powerfailure *)
-    (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown  ... *)
+    //next cycles of powerfailure
+    //skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown...
     RETURN;
 END_IF]]></ST>
       </Implementation>
     </Action>
     <Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
-        <ST><![CDATA[fbGetDeviceIdentification(bExecute:=TRUE);
+        <ST><![CDATA[fbGetDeviceIdentification(bExecute := TRUE);
 IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '0') THEN
     CHECK_UPS();
     RESTORE_POSITIONS();
@@ -84,137 +74,130 @@ END_IF]]></ST>
     </Action>
     <Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
       <Implementation>
-        <ST><![CDATA[//
-(* Program any sequence, safety or feature (if necessary) application specific in thsi section*)
-//]]></ST>
+        <ST><![CDATA[//Program any sequence, safety or feature (if necessary) application specific in thsi section]]></ST>
       </Implementation>
     </Action>
     <Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
-        <ST><![CDATA[///#########################################################
-// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
-// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
-// Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
-// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.axes[i].config.eRestorePosition is non-zero.
-// This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
-// A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
-// There is a enum to allow for different types of restore modes, currently only one is implemented.
-// 0 'DontRestore'
-// 1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
-// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
-///#########################################################
+        <ST><![CDATA[//This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
+//It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
+//Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
+//By default an axis will not restore the position unless it is set to opt-in, i.e. GVL.aAxes[iAxes].stConfig.eRestorePosition is non-zero.
+//This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
+//A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
+//There is a enum to allow for different types of restore modes, currently only one is implemented.
+//0 'DontRestore'
+//1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
+//Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
 
 IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
-    bRestoreOnStartup:=FALSE;
-    bRestoreExecute:=TRUE;
+    bRestoreOnStartup := FALSE;
+    bRestoreExecute := TRUE;
 END_IF
 
-// Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
-// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
+//Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
+//and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
 IF bRestoreExecute AND NOT bPositionRestoreDone THEN
-
-    // Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
-    // Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
-    FOR i:=1 TO gvl_app.axisNum DO
-        fbReadEncRefSys[i](
-          Axis:= gvl.axes[i].Axis,
-          Enable:= bExecuteReadEncRefSys,
-          ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
-          Value=>,
-          ReadMode:= E_READMODE.READMODE_ONCE);
+    //Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
+    //Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
+    FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
+        afbReadEncRefSys[iAxes](
+          Axis := GVL.astAxes[iAxes].Axis,
+          Enable := bExecuteReadEncRefSys,
+          ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
+          ReadMode := E_READMODE.READMODE_ONCE);
     END_FOR
 
-    // Cycle through set position function blocks for each axis
-    FOR i:=1 TO gvl_app.axisNum DO
-        fbRestorePosition[i](
-         Axis:= gvl.axes[i].Axis,
-         Execute:= ,
-         Position:= axesPersistent[i].iPositionAtShutdown);
+    //Cycle through set position function blocks for each axis
+    FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
+        afbRestorePosition[iAxes](
+         Axis := GVL.astAxes[iAxes].Axis,
+         Position := astAxesPersistent[iAxes].fPositionAtShutdown);
     END_FOR
 
     CASE eStartUp OF
-        ColdStart:
-        // First cycle of the PLC, do nothing just give one cycle for variables to initialise
+        eColdStart:
+        //First cycle of the PLC, do nothing just give one cycle for variables to initialise
             IF NOT bPositionRestoreDone THEN
-                eStartUp:= ReadAxisFeedbackType;
-                iRetry:=0;
+                eStartUp := eReadAxisFeedbackType;
+                nRetry := 0;
             END_IF
 
-        ReadAxisFeedbackType:
-        // Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
-            bExecuteReadEncRefSys:=TRUE;
-            eStartUp:=CheckReadDone;
+        eReadAxisFeedbackType:
+        //Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
+            bExecuteReadEncRefSys := TRUE;
+            eStartUp := eCheckReadDone;
 
-        CheckReadDone:
-        // Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
-        // If fbReadEncRefSys not started then go back a step.
-        // If any axes result in an error the code will get stuck here, this happens if gvl_app.axisNum is not set correctly
-            FOR i:=1 TO gvl_app.axisNum DO
-                IF fbReadEncRefSys[i].Valid = FALSE THEN
-                    IF fbReadEncRefSys[i].Busy = TRUE THEN
-                        // Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
+        eCheckReadDone:
+        //Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
+        //If afbReadEncRefSys not started then go back a step.
+        //If any axes result in an error the code will get stuck here, this happens if GVL_APP.nAxisNum is not set correctly
+            FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
+                IF afbReadEncRefSys[iAxes].Valid = FALSE THEN
+                    IF afbReadEncRefSys[iAxes].Busy = TRUE THEN
+                        //Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
                         RETURN;
                     ELSE
-                        // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge. If  the code gets here it means
-                        // .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
-                        // Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
-                        bExecuteReadEncRefSys:=FALSE;
-                        eStartUp:=ReadAxisFeedbackType;
-                        iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
+                        //Sometimes the code gets here and the afbReadEncRefSys[iAxes] misses the rising edge. If  the code gets here it means
+                        //valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
+                        //Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
+                        bExecuteReadEncRefSys := FALSE;
+                        eStartUp := eReadAxisFeedbackType;
+                        nRetry := nRetry + 1; //counter used for troubleshooting to see how many cycles it takes before afbReadEncRefSys function blocks are read correctly
                         RETURN;
                     END_IF
                 END_IF
             END_FOR
-            // If the code gets here all axes either have .valid=TRUE for all axes
-            eStartUp:= ExecuteRestore;
+            //If the code gets here all axes either have .valid=TRUE for all axes
+            eStartUp := eExecuteRestore;
 
-        ExecuteRestore:
-        // Execute position restore by setting fbRestorePosition.execute = TRUE
-            FOR i:=1 TO gvl_app.axisNum DO
-                IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
-                    IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
-                        fbRestorePosition[i].Execute:=TRUE;
+        eExecuteRestore:
+        //Execute position restore by setting afbRestorePosition.execute = TRUE
+            FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
+                IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(astAxesPersistent[iAxes].bMovingAtShutdown) THEN
+                    IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
+                        afbRestorePosition[iAxes].Execute := TRUE;
                     END_IF
                 END_IF
             END_FOR
-            eStartUp:= CheckRestore;
+            eStartUp := eCheckRestore;
 
-        CheckRestore:
-        // Check the set position fbs are finished
-        // Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
-        // bPositionRestoreDone will never get set to TRUE and will take up cycle time
-            FOR i:=1 TO gvl_app.axisNum DO
-                IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
-                    IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
-                        IF NOT fbRestorePosition[i].Done THEN
+        eCheckRestore:
+        //Check the set position fbs are finished
+        //Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
+        //bPositionRestoreDone will never get set to TRUE and will take up cycle time
+            FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
+                IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(astAxesPersistent[iAxes].bMovingAtShutdown) THEN
+                    IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
+                        IF NOT afbRestorePosition[iAxes].Done THEN
                             RETURN;
                         END_IF
                     END_IF
                 END_IF
             END_FOR
-            eStartUp:= FinishRestore;
+            eStartUp := eFinishRestore;
 
-        FinishRestore:
-        // Remove execute = TRUE for fbRestorePosition
-            FOR i:=1 TO gvl_app.axisNum DO
-                fbRestorePosition[i].Execute:=FALSE;
+        eFinishRestore:
+        //Remove execute = TRUE for afbRestorePosition
+            FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
+                afbRestorePosition[iAxes].Execute := FALSE;
             END_FOR
-            bPositionRestoreDone:=TRUE;
-            bRestoreExecute:=FALSE;
+            bPositionRestoreDone := TRUE;
+            bRestoreExecute := FALSE;
     END_CASE
 END_IF]]></ST>
       </Implementation>
     </Action>
     <Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
-        <ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
-    axesPersistent[i].iPositionAtShutdown:=gvl.axes[i].Axis.NcToPlc.ActPos;
-    IF gvl.axes[i].Axis.NcToPlc.ActVelo <> 0 THEN
-        axesPersistent[i].bMovingAtShutdown:=TRUE;
+        <ST><![CDATA[FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
+    astAxesPersistent[iAxes].fPositionAtShutdown := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
+    IF GVL.astAxes[iAxes].Axis.NcToPlc.ActVelo <> 0 THEN
+        astAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
     ELSE
-        axesPersistent[i].bMovingAtShutdown:=FALSE;
+        astAxesPersistent[iAxes].bMovingAtShutdown := FALSE;
     END_IF
-    axesPersistent[i].bMovingAtShutdown:=axesPersistent[i].bMovingAtShutdown OR gvl.axes[i].Axis.Status.Moving;
+    astAxesPersistent[iAxes].bMovingAtShutdown := astAxesPersistent[iAxes].bMovingAtShutdown OR GVL.astAxes[iAxes].Axis.Status.Moving;
 END_FOR]]></ST>
       </Implementation>
     </Action>
@@ -238,82 +221,9 @@ END_FOR]]></ST>
     </LineIds>
     <LineIds Name="MAIN.PROG">
       <LineId Id="2" Count="0" />
-      <LineId Id="1" Count="0" />
-      <LineId Id="3" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.RESTORE_POSITIONS">
-      <LineId Id="99" Count="0" />
-      <LineId Id="94" Count="0" />
-      <LineId Id="98" Count="0" />
-      <LineId Id="213" Count="0" />
-      <LineId Id="101" Count="0" />
-      <LineId Id="233" Count="1" />
-      <LineId Id="102" Count="0" />
-      <LineId Id="215" Count="0" />
-      <LineId Id="214" Count="0" />
-      <LineId Id="109" Count="0" />
-      <LineId Id="95" Count="0" />
-      <LineId Id="236" Count="2" />
-      <LineId Id="240" Count="0" />
-      <LineId Id="239" Count="0" />
-      <LineId Id="206" Count="0" />
-      <LineId Id="208" Count="1" />
-      <LineId Id="207" Count="0" />
-      <LineId Id="100" Count="0" />
-      <LineId Id="91" Count="1" />
-      <LineId Id="2" Count="7" />
-      <LineId Id="96" Count="0" />
-      <LineId Id="10" Count="6" />
-      <LineId Id="18" Count="2" />
-      <LineId Id="177" Count="0" />
-      <LineId Id="21" Count="3" />
-      <LineId Id="171" Count="0" />
-      <LineId Id="25" Count="0" />
-      <LineId Id="178" Count="0" />
-      <LineId Id="26" Count="1" />
-      <LineId Id="170" Count="0" />
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-      <LineId Id="179" Count="0" />
-      <LineId Id="163" Count="0" />
-      <LineId Id="212" Count="0" />
-      <LineId Id="152" Count="0" />
-      <LineId Id="139" Count="0" />
-      <LineId Id="131" Count="0" />
-      <LineId Id="155" Count="0" />
-      <LineId Id="190" Count="0" />
-      <LineId Id="140" Count="0" />
-      <LineId Id="157" Count="0" />
-      <LineId Id="210" Count="1" />
-      <LineId Id="187" Count="0" />
-      <LineId Id="150" Count="1" />
-      <LineId Id="200" Count="0" />
-      <LineId Id="145" Count="0" />
-      <LineId Id="141" Count="0" />
-      <LineId Id="166" Count="0" />
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-      <LineId Id="201" Count="0" />
-      <LineId Id="173" Count="0" />
-      <LineId Id="56" Count="0" />
-      <LineId Id="181" Count="0" />
-      <LineId Id="57" Count="1" />
-      <LineId Id="216" Count="0" />
-      <LineId Id="219" Count="1" />
-      <LineId Id="63" Count="2" />
-      <LineId Id="174" Count="0" />
-      <LineId Id="66" Count="0" />
-      <LineId Id="182" Count="0" />
-      <LineId Id="204" Count="1" />
-      <LineId Id="67" Count="1" />
-      <LineId Id="221" Count="0" />
-      <LineId Id="71" Count="2" />
-      <LineId Id="222" Count="0" />
-      <LineId Id="79" Count="2" />
-      <LineId Id="175" Count="0" />
-      <LineId Id="82" Count="0" />
-      <LineId Id="223" Count="0" />
-      <LineId Id="83" Count="3" />
-      <LineId Id="241" Count="0" />
-      <LineId Id="87" Count="0" />
+      <LineId Id="567" Count="105" />
       <LineId Id="1" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.STORE_PERSISTENT">
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
index 9fb8d47..14c9f5f 100644
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -1,118 +1,118 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
   <POU Name="FB_tcUNIT_common" Id="{0f757d3d-99b7-46eb-bdc6-03aa126689f4}" SpecialFunc="None">
-    <Declaration><![CDATA[//  tcUNIT Common function block: Contains helper methods for tcUNIT.
+    <Declaration><![CDATA[//tcUNIT Common function block: Contains helper methods for tcUNIT.
 FUNCTION_BLOCK FB_tcUNIT_common
 
 VAR
+
 END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[]]></ST>
     </Implementation>
     <Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
-      <Declaration><![CDATA[METHOD mEnableAxis : BOOL
+      <Declaration><![CDATA[METHOD mEnableAxis: BOOL
 VAR_INPUT
-    iAxisIndex: INT;  // The idex of the axis to action the method on.
+    iAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.axes[iAxisIndex].control.bEnable := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
-      <Declaration><![CDATA[METHOD mExecute : BOOL
+      <Declaration><![CDATA[METHOD mExecute: BOOL
 VAR_INPUT
-    iAxisIndex: INT;  // The idex of the axis to action the method on.
+    iAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.axes[iAxisIndex].control.bExecute := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
       <Declaration><![CDATA[METHOD mPrepareDefaultMove
 
 VAR_INPUT
-    iAxisIndex: INT;  // The idex of the axis to action the method on.
+    iAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed.
+        <ST><![CDATA[//Prepare an axis so it is ready to action a move using target defaults when executed.
 
-GVL.axes[iAxisIndex].control.bEnable := TRUE;
-GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
+GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;
+GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
-GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
 
-GVL.axes[iAxisIndex].config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
-GVL.axes[iAxisIndex].config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
-GVL.axes[iAxisIndex].config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
-GVL.axes[iAxisIndex].config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
-GVL.axes[iAxisIndex].config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
+GVL.astAxes[iAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
+GVL.astAxes[iAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
+GVL.astAxes[iAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
+GVL.astAxes[iAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
+GVL.astAxes[iAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
       <Declaration><![CDATA[METHOD mPrepareMove
 
 VAR_INPUT
-    iAxisIndex: INT;  // The idex of the axis to action the method on.
+    iAxisIndex: UINT; //The idex of the axis to action the method on.
     fTargetVelocity: LREAL;
     fTargetAcceleration: LREAL;
     fTargetDeceleration: LREAL;
     fTargetPosition: LREAL;
-    eMotionStrategy: MotionFunctions; // The desired MotionFunctions motion strategy.
+    eMotionStrategy: E_MotionFunctions; //The desired MotionFunctions motion strategy.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[// Prepare the axis so it is ready to action a move when executed for a given motion strategy.
+        <ST><![CDATA[//Prepare the axis so it is ready to action a move when executed for a given motion strategy.
 
-GVL.axes[iAxisIndex].control.bEnable := FALSE;
-GVL.axes[iAxisIndex].control.eCommand := eMotionStrategy;
+GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[iAxisIndex].stControl.eCommand := eMotionStrategy;
 
-GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
-GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
 
-GVL.axes[iAxisIndex].config.fVelocity := fTargetVelocity;
-GVL.axes[iAxisIndex].config.fAcceleration := fTargetAcceleration;
-GVL.axes[iAxisIndex].config.fDeceleration := fTargetDeceleration;
-GVL.axes[iAxisIndex].config.fPosition := fTargetPosition;]]></ST>
+GVL.astAxes[iAxisIndex].stConfig.fVelocity := fTargetVelocity;
+GVL.astAxes[iAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
+GVL.astAxes[iAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
+GVL.astAxes[iAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mSetAxisDefaults" Id="{5b9336be-4414-4858-a614-0fdb2847e171}">
       <Declaration><![CDATA[METHOD mSetAxisDefaults
 
 VAR_INPUT
-    iAxisIndex: INT;  // The idex of the axis to action the method on.
+    iAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
 
-IF GVL.axes[iAxisIndex].status.bBusy THEN
-    GVL.axes[iAxisIndex].control.bStop := TRUE;
+IF GVL.astAxes[iAxisIndex].stStatus.bBusy THEN
+    GVL.astAxes[iAxisIndex].stControl.bStop := TRUE;
 END_IF
-IF GVL.axes[iAxisIndex].status.bError THEN
-    GVL.axes[iAxisIndex].control.bReset := TRUE;
+IF GVL.astAxes[iAxisIndex].stStatus.bError THEN
+    GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
 END_IF
-IF NOT GVL.axes[iAxisIndex].control.bEnable AND GVL.axes[iAxisIndex].control.bStop THEN
-    GVL.axes[iAxisIndex].control.bStop := FALSE;
+IF NOT GVL.astAxes[iAxisIndex].stControl.bEnable AND GVL.astAxes[iAxisIndex].stControl.bStop THEN
+    GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
 END_IF
 
-GVL.axes[iAxisIndex].control.bEnable := FALSE;
-GVL.axes[iAxisIndex].control.bExecute := FALSE;
-GVL.axes[iAxisIndex].control.bReset := FALSE;
-GVL.axes[iAxisIndex].control.bJogFwd := FALSE;
-GVL.axes[iAxisIndex].control.bJogBwd := FALSE;
-GVL.axes[iAxisIndex].control.bStop := FALSE;
-GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
+GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bReset := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bJogFwd := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bJogBwd := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
+GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-GVL.axes[iAxisIndex].config.fVelocity := 0.0;
-GVL.axes[iAxisIndex].config.fAcceleration := 0.0;
-GVL.axes[iAxisIndex].config.fDeceleration := 0.0;
-GVL.axes[iAxisIndex].config.fPosition := 0;
-GVL.axes[iAxisIndex].config.fOverride := 0.0;
-GVL.axes[iAxisIndex].config.nHomeSeq := 0;
+GVL.astAxes[iAxisIndex].stConfig.fVelocity := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.fAcceleration := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.fDeceleration := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.fPosition := 0;
+GVL.astAxes[iAxisIndex].stConfig.fOverride := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.eHomeSeq := 0;
 
-GVL.axes[iAxisIndex].inputs.bLimitBwd := FALSE;
-GVL.axes[iAxisIndex].inputs.bLimitFwd := FALSE;
-GVL.axes[iAxisIndex].inputs.bEncLAtch := FALSE;
-GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;]]></ST>
+GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := FALSE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := FALSE;
+GVL.astAxes[iAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
       </Implementation>
     </Method>
     <LineIds Name="FB_tcUNIT_common">
@@ -125,25 +125,15 @@ GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;]]></ST>
       <LineId Id="5" Count="0" />
     </LineIds>
     <LineIds Name="FB_tcUNIT_common.mPrepareDefaultMove">
-      <LineId Id="6" Count="0" />
-      <LineId Id="38" Count="0" />
-      <LineId Id="8" Count="1" />
-      <LineId Id="39" Count="0" />
-      <LineId Id="11" Count="6" />
+      <LineId Id="44" Count="11" />
       <LineId Id="19" Count="0" />
     </LineIds>
     <LineIds Name="FB_tcUNIT_common.mPrepareMove">
       <LineId Id="17" Count="11" />
     </LineIds>
     <LineIds Name="FB_tcUNIT_common.mSetAxisDefaults">
-      <LineId Id="6" Count="0" />
-      <LineId Id="41" Count="0" />
-      <LineId Id="34" Count="1" />
-      <LineId Id="31" Count="0" />
-      <LineId Id="44" Count="1" />
-      <LineId Id="43" Count="0" />
-      <LineId Id="36" Count="2" />
-      <LineId Id="7" Count="19" />
+      <LineId Id="50" Count="28" />
+      <LineId Id="26" Count="0" />
     </LineIds>
   </POU>
 </TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
index 10cbe42..e80baa0 100644
--- a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
+++ b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
@@ -1,15 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
   <GVL Name="tcUNIT_GVL" Id="{4b23d6c9-6a88-40b7-9bf4-d55c4dfd4246}">
-    <Declaration><![CDATA[// tcUNIT_GVL: Global variables used in tcUNIT tests.
+    <Declaration><![CDATA[//tcUNIT_GVL: Global variables used in tcUNIT tests.
 {attribute 'qualified_only'}
 VAR_GLOBAL CONSTANT
-// Constants for axis defaults.
+//Constants for axis defaults.
 fDEFAULT_VELOCITY: LREAL := 0.0;
 fDEFAULT_ACCELERATION: LREAL := 0.0;
 fDEFAULT_DECCELERATION: LREAL := 0.0;
 fDEFAULT_POSITION: LREAL := 0.0;
-
 fDEFAULT_TARGET_VELOCITY: LREAL := 1.0;
 fDEFAULT_TARGET_ACCELERATION: LREAL := 0.5;
 fDEFAULT_TARGET_DECCELERATION: LREAL := 0.5;
diff --git a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
index 36cf024..52c10ed 100644
--- a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
+++ b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
@@ -1,15 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
   <POU Name="FB_Axis_TEST" Id="{3bfca2b4-3b3f-48f2-9900-9d4cd3404e9e}" SpecialFunc="None">
-    <Declaration><![CDATA[// Test suite for the FB_Axis POU
+    <Declaration><![CDATA[//Test suite for the FB_Axis POU
 {attribute 'call_after_init'}
 FUNCTION_BLOCK FB_Axis_TEST EXTENDS tcUnit.FB_TestSuite
 VAR
     fbCommon: FB_tcUNIT_common;
-    iTargetAxis: INT := 1;  // The <index> of the axis within GVL.axes[<index>] to test against.
+    iTargetAxis: UINT := 1; //The <index> of the axis within GVL.astAxes[<index>] to test against.
 END_VAR]]></Declaration>
     <Implementation>
-      <ST><![CDATA[// Declare methods defined in the FB_Axis_TEST POU to be included (executed) in the test suite
+      <ST><![CDATA[//Declare methods defined in the FB_Axis_TEST POU to be included (executed) in the test suite
 SetAxisControl_Enabled();
 CheckAxisStatus_Moving();
 SetAxisConfig_Acceleration();
@@ -34,7 +34,7 @@ ExpectedResult := TRUE;
 fbCommon.mPrepareDefaultMove(iTargetAxis);
 fbCommon.mExecute(iTargetAxis);
 
-Result := GVL.axes[iTargetAxis].status.bBusy;
+Result := GVL.astAxes[iTargetAxis].stStatus.bBusy;
 
 IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,
@@ -52,24 +52,25 @@ VAR
     InitialValue: LREAL;
     Result: LREAL;
     ExpectedResult: LREAL;
+
     nCycle: UINT;
     nCycleMax: UINT := 100;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[TEST('test_GIVEN_new_axis_position_set_WHEN_executed_THEN_axis_moves_to_new_position');
 
-// Since the axis has state; a test might begin the position at some location set by
-// a previous test. Therefore if we execute a move we should just check it's moved
-// from the initial location not some initial default.
+//Since the axis has state; a test might begin the position at some location set by
+//a previous test. Therefore if we execute a move we should just check it's moved
+//from the initial location not some initial default.
 
-InitialValue := GVL.axes[iTargetAxis].config.fPosition;
+InitialValue := GVL.astAxes[iTargetAxis].stConfig.fPosition;
 ExpectedResult := InitialValue + 10;
-GVL.axes[iTargetAxis].config.fPosition := ExpectedResult;
+GVL.astAxes[iTargetAxis].stConfig.fPosition := ExpectedResult;
 
-GVL.axes[iTargetAxis].control.eCommand := MotionFunctions.MoveAbsolute;
-GVL.axes[iTargetAxis].control.bExecute := TRUE;
+GVL.astAxes[iTargetAxis].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
+GVL.astAxes[iTargetAxis].stControl.bExecute := TRUE;
 
-Result := GVL.axes[iTargetAxis].status.fActPosition;
+Result := GVL.astAxes[iTargetAxis].stStatus.fActPosition;
 
 IF nCycle > nCycleMax OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,
@@ -91,12 +92,12 @@ END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[TEST('test_GIVEN_new_axis_acceleration_set_WHEN_executed_THEN_new_axis_acceleration_set');
 
-// example of direct GVL axis reference for assert.
+//example of direct GVL axis reference for assert.
 
 ExpectedResult := tcUNIT_gvl.fDEFAULT_TARGET_ACCELERATION;
 fbCommon.mPrepareDefaultMove(iTargetAxis);
 
-Result := GVL.axes[1].config.fAcceleration;
+Result := GVL.astAxes[iTargetAxis].stConfig.fAcceleration;
 
 AssertEquals(Expected := ExpectedResult,
              Actual := Result,
@@ -110,18 +111,19 @@ TEST_FINISHED();]]></ST>
 VAR
     Result: BOOL;
     ExpectedResult: BOOL;
+
     nCycle: UINT;
     nMaxCycles: UINT := 30;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[TEST('test_GIVEN_prepare_default_move_WHEN_move_prepared_THEN_axis_enabled');
 
-// example of test that requires multiple cycles to complete. Due to stateful behaviour of the axis structure.
+//example of test that requires multiple cycles to complete. Due to stateful behaviour of the axis structure.
 
 ExpectedResult := TRUE;
-GVL.axes[1].control.bEnable := ExpectedResult;
+GVL.astAxes[iTargetAxis].stControl.bEnable := ExpectedResult;
 
-Result := GVL.axes[iTargetAxis].status.bEnabled;
+Result := GVL.astAxes[iTargetAxis].stStatus.bEnabled;
 
 IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,
@@ -146,13 +148,13 @@ END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[TEST('test_GIVEN_new_axis_velocity_set_WHEN_executed_THEN_new_axis_velocity_set');
 
-// Example of using a tcUNIT assert for a specific type (in this case LREAL).
+//Example of using a tcUNIT assert for a specific type (in this case LREAL).
 
-InitialValue := GVL.axes[iTargetAxis].config.fVelocity;
+InitialValue := GVL.astAxes[iTargetAxis].stConfig.fVelocity;
 ExpectedResult := InitialValue + 0.5;
-GVL.Axes[iTargetAxis].config.fVelocity := ExpectedResult;
+GVL.astAxes[iTargetAxis].stConfig.fVelocity := ExpectedResult;
 
-Result := GVL.axes[iTargetAxis].config.fVelocity;
+Result := GVL.astAxes[iTargetAxis].stConfig.fVelocity;
 
 AssertEquals_LREAL(Expected := ExpectedResult,
                    Actual := Result,
@@ -176,9 +178,9 @@ END_VAR]]></Declaration>
 
 ExpectedResult := TRUE;
 
-GVL.axes[iTargetAxis].inputs.bLimitFwd := TRUE;
+GVL.astAxes[iTargetAxis].stInputs.bLimitFwd := TRUE;
 
-Result := GVL.axes[iTargetAxis].status.bFwEnabled;
+Result := GVL.astAxes[iTargetAxis].stStatus.bFwEnabled;
 
 IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,
diff --git a/solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU b/solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU
index e7cb079..0c553c6 100644
--- a/solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU
+++ b/solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
   <POU Name="tcUNIT_STD_LIB_RUN" Id="{5e8cc903-e536-40be-a096-d6b305fbb618}" SpecialFunc="None">
-    <Declaration><![CDATA[// tcUNIT Standard Library tests: Add program to PLC task in order to run tcUNIT tests against the declared POU test suites
+    <Declaration><![CDATA[//tcUNIT Standard Library tests: Add program to PLC task in order to run tcUNIT tests against the declared POU test suites
 PROGRAM tcUNIT_STD_LIB_RUN
 VAR
-    // Declare standard library POU tests to be run
-    fbFB_Axis: FB_Axis_TEST;
+    //Declare standard library POU tests to be run
+    fbAxisTest: FB_Axis_TEST;
 END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[TcUnit.RUN();]]></ST>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 5ee22a6..08a5fd1 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 5ee22a6d093b48768c6bc912b5893a9d0d383d84
+Subproject commit 08a5fd1399ee7f333765229a2737919377ea0e6e
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index c52eb62..23aa3e4 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -30,7 +30,19 @@
     <Compile Include="POUs\MAIN.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\RestorePosition.TcDUT">
+    <Compile Include="tc_mca_std_lib\DUTs\E_HomingRoutines.TcTLEO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_MotorTypeClass.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_EncoderTypeClass.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_HomeSwitchTypeClass.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_RestorePosition.TcDUT">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisConfig.TcDUT">
@@ -39,7 +51,10 @@
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisControl.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\MotionFunctions.TcDUT">
+    <Compile Include="tc_mca_std_lib\DUTs\E_MotionFunctions.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisDescription.TcDUT">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisInputs.TcDUT">
@@ -75,48 +90,20 @@
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeDirect.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeFinish.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomePrepare.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadNcVelocities.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadSoftLimEnable.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeToSwitch.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeVirtual.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeWriteNcVelocities.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeWriteSoftLimEnable.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\VISUs\Error_Log_Visu.TcVIS">
+    <Compile Include="tc_mca_std_lib\VISUs\languageSupport.TcTLO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\VISUs\MainVisu.TcVIS">
       <SubType>Code</SubType>
       <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\VISUs\languageSupport.TcTLO">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\VISUs\MainVisu.TcVIS">
-      <SubType>Code</SubType>
-      <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\VISUs\visuTextLinks.TcTLO">
+    <Compile Include="tc_mca_std_lib\VISUs\visuTextLinks.TcTLO">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="Test\app_tests\tcUNIT_APP_RUN.TcPOU">
@@ -141,6 +128,7 @@
   <ItemGroup>
     <Folder Include="DUTs" />
     <Folder Include="GVLs" />
+    <Folder Include="tc_mca_std_lib\VISUs" />
     <Folder Include="Test" />
     <Folder Include="tc_mca_std_lib" />
     <Folder Include="tc_mca_std_lib\DUTs" />
@@ -149,11 +137,9 @@
     <Folder Include="tc_mca_std_lib\POUs\ChangeConfig" />
     <Folder Include="tc_mca_std_lib\POUs\Motion" />
     <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
-    <Folder Include="tc_mca_std_lib\POUs\VISUs" />
     <Folder Include="Test\app_tests" />
     <Folder Include="Test\common" />
     <Folder Include="Test\standard_library_tests" />
-    <Folder Include="VISUs" />
     <Folder Include="POUs" />
   </ItemGroup>
   <ItemGroup>