diff --git a/UpgradeLog.htm b/UpgradeLog.htm
new file mode 100644
index 0000000..103b560
Binary files /dev/null and b/UpgradeLog.htm differ
diff --git a/solution/TrialLicense.tclrs b/solution/TrialLicense.tclrs
new file mode 100644
index 0000000..3b78bf8
--- /dev/null
+++ b/solution/TrialLicense.tclrs
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcLicenseInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2011/11/TcLicenseInfo"><LicenseInfo><SystemId>{647C6958-3A0C-73AB-3631-FCA93A32D91D}</SystemId><IssueTime>2019-03-28T10:01:00</IssueTime><ExpireTime>2019-04-05T00:00:00</ExpireTime><LicenseKey>c5d3cb1031fe69b92637f818532268e150e73209fbcde806d6a45fa5c587430d79f2c1228179d00673ab0c897cec2974facbbdea6732800f514190342df993e6cf6c8900d81c6168e82abc6419353caaa16eae89c3652b99dc5724bd894c9688d636d924d65f9bd2be9c76a54d9389d9c2e80b95ac96243e653e4af19badfbdfa010ba61245f038ad5eef223906c4cade2def8629cdbed3a49da1c64a666625c6c23b0d87507ee78907eaf7e2d8bf7b2ce4fd5d511ecc80ae9058fbc8fabd02bf239827c8abad467f34390374768fe2427b583c8af5c86ee51c2f4bbadd341b0daccb1e0c5625b4894babedd35d3cb816a514aab66bc4fcaa5762164e6e078da</LicenseKey><License><LicenseId>{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}</LicenseId><Name>TC3 ADS</Name><OrderNo>TC1000</OrderNo></License><License><LicenseId>{3FF18E97-7754-401B-93FB-70544DE28A13}</LicenseId><Name>TC3 IO</Name><OrderNo>TC1100</OrderNo></License><License><LicenseId>{66689887-CCBD-452C-AC9A-039D997C6E66}</LicenseId><Name>TC3 PLC</Name><OrderNo>TC1200</OrderNo></License><License><LicenseId>{A19036CF-A53B-4E3A-99FF-023EF5C4798B}</LicenseId><Name>TC3 NC PTP Axis</Name><Instances>10</Instances></License><License><LicenseId>{520DE751-9DB6-47CB-8240-BD5C466E7E64}</LicenseId><Name>TC3 NC PTP</Name><OrderNo>TF5000</OrderNo></License><License><LicenseId>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</LicenseId><Name>TC3 TCP/IP</Name><OrderNo>TF6310</OrderNo></License></LicenseInfo></TcLicenseInfo>
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 5a083bc..313b9a2 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -881,6 +881,11 @@ External Setpoint Generation:
 	</DataTypes>
 	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
+			<Licenses>
+				<Target>
+					<ManualSelect>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</ManualSelect>
+				</Target>
+			</Licenses>
 			<Tasks>
 				<Task Id="2" Priority="26" CycleTime="10000" AmsPort="350" AdtTasks="true">
 					<Name>PlcTaskCom</Name>
@@ -890,6 +895,25 @@ External Setpoint Generation:
 				</Task>
 			</Tasks>
 		</System>
+		<Motion>
+			<NC>
+				<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
+					<Name>NC-Task 1 SAF</Name>
+					<Vars VarGrpType="1" InsertType="1">
+						<Name>Inputs</Name>
+					</Vars>
+					<Vars VarGrpType="2" InsertType="1">
+						<Name>Outputs</Name>
+					</Vars>
+					<Image Id="3" AddrType="1" ImageType="1">
+						<Name>Image</Name>
+					</Image>
+				</SafTask>
+				<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
+					<Name>NC-Task 1 SVB</Name>
+				</SvbTask>
+			</NC>
+		</Motion>
 		<Plc>
 			<Project GUID="{F935F1DE-0753-4702-B418-1DC0ED040A4D}" Name="tc_epicscommodule" PrjFilePath="tc_epicscommodule\tc_epicscommodule.plcproj" TmcFilePath="tc_epicscommodule\tc_epicscommodule.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
 				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_epicscommodule\tc_epicscommodule.tmc">
@@ -907,40 +931,35 @@ External Setpoint Generation:
 					<Vars VarGrpType="1">
 						<Name>PlcTask Inputs</Name>
 						<Var>
-							<Name>MAIN.bLimitFwd1</Name>
+							<Name>GVL.axes[1].bLimitFwd</Name>
 							<Comment>
-								<![CDATA[M3:FB_DriveVirtual;
-M4:FB_DriveVirtual;
-M5:FB_DriveVirtual;
-M6:FB_DriveVirtual;
-M7:FB_DriveVirtual;
-M8:FB_DriveVirtual;
-*****Inputs (Limit switches and Home Sensors*******]]>
+								<![CDATA[////Axis Inputs///////]]>
 							</Comment>
 							<Type>BOOL</Type>
 						</Var>
 						<Var>
-							<Name>MAIN.bLimitBwd1</Name>
+							<Name>GVL.axes[1].bLimitBwd</Name>
+							<Comment>
+								<![CDATA[Backward limit switch]]>
+							</Comment>
 							<Type>BOOL</Type>
 						</Var>
 						<Var>
-							<Name>MAIN.bHomeSensor1</Name>
+							<Name>GVL.axes[1].bHomeSensor</Name>
+							<Comment>
+								<![CDATA[Reference siganl for homing]]>
+							</Comment>
 							<Type>BOOL</Type>
 						</Var>
 						<Var>
-							<Name>MAIN.bLimitFwd2</Name>
+							<Name>GVL.axes[1].bEncLAtch</Name>
+							<Comment>
+								<![CDATA[Reference index signal from inc. enconder]]>
+							</Comment>
 							<Type>BOOL</Type>
 						</Var>
 						<Var>
-							<Name>MAIN.bLimitBwd2</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.bHomeSensor2</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.M1Link.Axis.NcToPlc</Name>
+							<Name>GVL.axes[1].Axis.NcToPlc</Name>
 							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
 							<SubVar>
 								<Name>AxisState</Name>
@@ -988,254 +1007,20 @@ External Setpoint Generation:
 								</Comment>
 							</SubVar>
 						</Var>
-						<Var>
-							<Name>MAIN.M1Link.InfoData_State</Name>
-							<Type>UINT</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.M2Link.Axis.NcToPlc</Name>
-							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
-							<SubVar>
-								<Name>AxisState</Name>
-								<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>
-							</SubVar>
-							<SubVar>
-								<Name>HomingState</Name>
-								<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>
-							</SubVar>
-							<SubVar>
-								<Name>CoupleState</Name>
-								<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>
-							</SubVar>
-						</Var>
-						<Var>
-							<Name>MAIN.M2Link.InfoData_State</Name>
-							<Type>UINT</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.M1.MasterAxis.NcToPlc</Name>
-							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
-							<SubVar>
-								<Name>AxisState</Name>
-								<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>
-							</SubVar>
-							<SubVar>
-								<Name>HomingState</Name>
-								<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>
-							</SubVar>
-							<SubVar>
-								<Name>CoupleState</Name>
-								<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>
-							</SubVar>
-						</Var>
-						<Var>
-							<Name>MAIN.M2.MasterAxis.NcToPlc</Name>
-							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
-							<SubVar>
-								<Name>AxisState</Name>
-								<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>
-							</SubVar>
-							<SubVar>
-								<Name>HomingState</Name>
-								<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>
-							</SubVar>
-							<SubVar>
-								<Name>CoupleState</Name>
-								<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>
-							</SubVar>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_1_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_2_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_3_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_4_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_5_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_6_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_7_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.Channel_8_Input</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.WcState_WcState</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.fbEL1808.InfoData_State</Name>
-							<Type>UINT</Type>
-						</Var>
 					</Vars>
 					<Vars VarGrpType="2">
 						<Name>PlcTask Outputs</Name>
 						<Var>
 							<Name>MAIN.bOutput1</Name>
 							<Comment>
-								<![CDATA[bLimitFwd3 AT %I*: BOOL;
-bLimitBwd3 AT %I*: BOOL;
-bHomeSensor3 AT %I*: BOOL;
-bLimitFwd4 AT %I*: BOOL;
-bLimitBwd4 AT %I*: BOOL;
-bHomeSensor4 AT %I*: BOOL;
-bLimitFwd5 AT %I*: BOOL;
-bLimitBwd5 AT %I*: BOOL;
-bHomeSensor5 AT %I*: BOOL;
-bLimitFwd6 AT %I*: BOOL;
-bLimitBwd6 AT %I*: BOOL;
-bHomeSensor6 AT %I*: BOOL;
-bLimitFwd7 AT %I*: BOOL;
-bLimitBwd7 AT %I*: BOOL;
-bHomeSensor7 AT %I*: BOOL;
-bLimitFwd8 AT %I*: BOOL;
-bLimitBwd8 AT %I*: BOOL;
-bHomeSensor8 AT %I*: BOOL;
-*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]>
+								<![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]>
 							</Comment>
 							<Type>BOOL</Type>
 						</Var>
 						<Var>
-							<Name>MAIN.M1Link.Axis.PlcToNc</Name>
+							<Name>GVL.axes[1].Axis.PlcToNc</Name>
 							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 						</Var>
-						<Var>
-							<Name>MAIN.M2Link.Axis.PlcToNc</Name>
-							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.M1.MasterAxis.PlcToNc</Name>
-							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.M2.MasterAxis.PlcToNc</Name>
-							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.bOutput5</Name>
-							<Comment>
-								<![CDATA[bOutput2 AT %Q*: BOOL:= TRUE;
-bOutput3 AT %Q*: BOOL:= TRUE;
-bOutput4 AT %Q*: BOOL:= TRUE;]]>
-							</Comment>
-							<Type>BOOL</Type>
-						</Var>
 					</Vars>
 					<TaskPouOids>
 						<TaskPouOid Prio="20" OTCID="#x08502041"/>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index ccf7cfd..639c474 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -4,60 +4,15 @@
     <Declaration><![CDATA[PROGRAM MAIN
 VAR
 	sVersion: STRING:='1.0.0';
-	
-(******FB_NcAxis Motor Links********)
-	M1Link:FB_NcAxis;
-	M2Link:FB_NcAxis;
-	//M3Link:FB_NcAxis;
-	//M4Link:FB_NcAxis;
-	//M5Link:FB_NcAxis;
-	//M6Link:FB_NcAxis;
-	//M7Link:FB_NcAxis;
-	//M8Link:FB_NcAxis;
-	
-(******FB_DriveVirtual Motors function blocks********)
-	M1:FB_DriveVirtual;
-	M2:FB_DriveVirtual;
-	//M3:FB_DriveVirtual;
-	//M4:FB_DriveVirtual;
-	//M5:FB_DriveVirtual;
-	//M6:FB_DriveVirtual;
-	//M7:FB_DriveVirtual;
-	//M8:FB_DriveVirtual;
-	
-(******Inputs (Limit switches and Home Sensors********)
-	bLimitFwd1 AT %I*: BOOL;
-	bLimitBwd1 AT %I*: BOOL;
-	bHomeSensor1 AT %I*: BOOL;
-	bLimitFwd2 AT %I*: BOOL;
-	bLimitBwd2 AT %I*: BOOL;
-	bHomeSensor2 AT %I*: BOOL;
-	//bLimitFwd3 AT %I*: BOOL;
-	//bLimitBwd3 AT %I*: BOOL;
-	//bHomeSensor3 AT %I*: BOOL;
-	//bLimitFwd4 AT %I*: BOOL;
-	//bLimitBwd4 AT %I*: BOOL;
-	//bHomeSensor4 AT %I*: BOOL;
-	//bLimitFwd5 AT %I*: BOOL;
-	//bLimitBwd5 AT %I*: BOOL;
-	//bHomeSensor5 AT %I*: BOOL;
-	//bLimitFwd6 AT %I*: BOOL;
-	//bLimitBwd6 AT %I*: BOOL;
-	//bHomeSensor6 AT %I*: BOOL;
-	//bLimitFwd7 AT %I*: BOOL;
-	//bLimitBwd7 AT %I*: BOOL;
-	//bHomeSensor7 AT %I*: BOOL;
-	//bLimitFwd8 AT %I*: BOOL;
-	//bLimitBwd8 AT %I*: BOOL;
-	//bHomeSensor8 AT %I*: BOOL;
-	
+	i : UINT; //index variable for AXES()
+	aFbAxes: ARRAY [1..gvl.axisNum] OF FB_Axis;
 (******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;
-	bOutput5 AT %Q*: BOOL:= TRUE;
+	//bOutput5 AT %Q*: BOOL:= TRUE;
 	//bOutput6 AT %Q*: BOOL:= TRUE;
 	//bOutput7 AT %Q*: BOOL:= TRUE;
 	//bOutput8 AT %Q*: BOOL:= TRUE;
@@ -75,8 +30,6 @@ VAR
 	//fbEL2819: EL2819;
 	//fbEL9410: EL9410;
 	
-(*******New and specific application variables*********)
-
 END_VAR
 
 ]]></Declaration>
@@ -85,1704 +38,15 @@ END_VAR
 AXES();
 ERROR();]]></ST>
     </Implementation>
-    <Action Name="AXES" Id="{240e8099-f921-46d2-bfb2-289ee76e4611}">
+    <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
       <Implementation>
-        <NWL>
-          <XmlArchive>
-            <Data>
-              <o xml:space="preserve" t="NWLImplementationObject">
-                <v n="NetworkListComment">""</v>
-                <v n="DefaultViewMode">"Fbd"</v>
-                <l2 n="NetworkList" cet="Network">
-                  <o>
-                    <v n="ILActive">false</v>
-                    <v n="FBDValid">false</v>
-                    <v n="ILValid">false</v>
-                    <l2 n="ILLines" />
-                    <v n="Comment">""</v>
-                    <v n="Title">""</v>
-                    <v n="Label">""</v>
-                    <v n="OutCommented">false</v>
-                    <l2 n="NetworkItems" cet="BoxTreeBox">
-                      <o>
-                        <v n="BoxType">"FB_NcAxis"</v>
-                        <o n="Instance" t="Operand">
-                          <v n="Operand">"M1Link"</v>
-                          <v n="Type">"FB_NcAxis"</v>
-                          <v n="Comment">""</v>
-                          <v n="SymbolComment">""</v>
-                          <v n="Address">""</v>
-                          <o n="Flags" t="Flags">
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <v n="LValue">false</v>
-                          <v n="Boolean">false</v>
-                          <v n="IsInstance">true</v>
-                          <v n="Id">3L</v>
-                        </o>
-                        <o n="OutputItems" t="OutputItemList">
-                          <l2 n="OutputItems" cet="Operand">
-                            <n />
-                            <o>
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">true</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">5L</v>
-                            </o>
-                            <o>
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">true</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">6L</v>
-                            </o>
-                          </l2>
-                        </o>
-                        <o n="Flags" t="Flags">
-                          <v n="Flags">0</v>
-                          <v n="Fixed">true</v>
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-                                <v n="Fixed">false</v>
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-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">130L</v>
-                            </o>
-                            <v n="Id">129L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
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-                              </o>
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-                              <v n="Boolean">false</v>
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-                            </o>
-                            <v n="Id">131L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">"bLimitFwd2"</v>
-                              <v n="Type">"BOOL"</v>
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">"%I*"</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">134L</v>
-                            </o>
-                            <v n="Id">133L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">"bLimitBwd2"</v>
-                              <v n="Type">"BOOL"</v>
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">"%I*"</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">136L</v>
-                            </o>
-                            <v n="Id">135L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
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-                              <v n="Boolean">false</v>
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-                            <v n="Id">137L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">"bHomeSensor2"</v>
-                              <v n="Type">"BOOL"</v>
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
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-                            </o>
-                            <v n="Id">139L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
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-                            <v n="Id">141L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
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-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
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-                            </o>
-                            <v n="Id">143L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
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-                            </o>
-                            <v n="Id">145L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">"M2Link.Axis"</v>
-                              <v n="Type">"AXIS_REF"</v>
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">"%I*"</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">148L</v>
-                            </o>
-                            <v n="Id">147L</v>
-                          </o>
-                        </l2>
-                        <o n="InputParam" t="ParamList">
-                          <l2 n="Names" cet="String">
-                            <v>En</v>
-                            <v>bEnable</v>
-                            <v>bReset</v>
-                            <v>bExecute</v>
-                            <v>nCommand</v>
-                            <v>nCmdData</v>
-                            <v>fVelocity</v>
-                            <v>fPosition</v>
-                            <v>fAcceleration</v>
-                            <v>fDeceleration</v>
-                            <v>bJogFwd</v>
-                            <v>bJogBwd</v>
-                            <v>bLimitFwd</v>
-                            <v>bLimitBwd</v>
-                            <v>fOverride</v>
-                            <v>bHomeSensor</v>
-                            <v>fHomePosition</v>
-                            <v>nHomeRevOffset</v>
-                            <v>MasterAxis</v>
-                            <v>Axis</v>
-                          </l2>
-                          <l2 n="Types" cet="String">
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>UINT</v>
-                            <v>UINT</v>
-                            <v>LREAL</v>
-                            <v>LREAL</v>
-                            <v>LREAL</v>
-                            <v>LREAL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>LREAL</v>
-                            <v>BOOL</v>
-                            <v>LREAL</v>
-                            <v>UINT</v>
-                            <v>AXIS_REF</v>
-                            <v>AXIS_REF[REF]</v>
-                          </l2>
-                        </o>
-                        <o n="OutputParam" t="ParamList">
-                          <l2 n="Names" cet="String">
-                            <v>EnO</v>
-                            <v>bEnabled</v>
-                            <v>bBusy</v>
-                            <v>bDone</v>
-                            <v>bError</v>
-                            <v>bHomed</v>
-                            <v>nErrorId</v>
-                            <v>nMotionAxisID</v>
-                            <v>Status</v>
-                            <v>fActVelocity</v>
-                            <v>fActPosition</v>
-                            <v>fActDiff</v>
-                            <v>sErrorMessage</v>
-                          </l2>
-                          <l2 n="Types" cet="String">
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>UDINT</v>
-                            <v>UDINT</v>
-                            <v>ST_AxisStatus</v>
-                            <v>LREAL</v>
-                            <v>LREAL</v>
-                            <v>LREAL</v>
-                            <v>STRING</v>
-                          </l2>
-                        </o>
-                        <v n="CallType" t="Operator">FunctionBlock</v>
-                        <v n="EN">false</v>
-                        <v n="ENO">false</v>
-                        <n n="STSnippet" />
-                        <v n="ContainsExtensibleInputs">false</v>
-                        <v n="ProvidesSTSnippet">false</v>
-                        <v n="Id">96L</v>
-                      </o>
-                    </l2>
-                    <l2 n="Connectors" />
-                    <v n="Id">94L</v>
-                  </o>
-                  <o>
-                    <v n="ILActive">false</v>
-                    <v n="FBDValid">false</v>
-                    <v n="ILValid">false</v>
-                    <l2 n="ILLines" />
-                    <v n="Comment">""</v>
-                    <v n="Title">""</v>
-                    <v n="Label">""</v>
-                    <v n="OutCommented">false</v>
-                    <l2 n="NetworkItems" />
-                    <l2 n="Connectors" />
-                    <v n="Id">86L</v>
-                  </o>
-                </l2>
-                <v n="BranchCounter">0</v>
-                <v n="ValidIds">true</v>
-              </o>
-            </Data>
-            <TypeList>
-              <Type n="Boolean">System.Boolean</Type>
-              <Type n="BoxTreeBox">{acfc6f68-8e3a-4af5-bf81-3dd512095a46}</Type>
-              <Type n="BoxTreeOperand">{9de7f100-1b87-424c-a62e-45b0cfc85ed2}</Type>
-              <Type n="Flags">{668066f2-6069-46b3-8962-8db8d13d7db2}</Type>
-              <Type n="Int32">System.Int32</Type>
-              <Type n="Int64">System.Int64</Type>
-              <Type n="Network">{d9a99d73-b633-47db-b876-a752acb25871}</Type>
-              <Type n="NWLImplementationObject">{25e509de-33d4-4447-93f8-c9e4ea381c8b}</Type>
-              <Type n="Operand">{c9b2f165-48a2-4a45-8326-3952d8a3d708}</Type>
-              <Type n="Operator">{bffb3c53-f105-4e85-aba2-e30df579d75f}</Type>
-              <Type n="OutputItemList">{f40d3e09-c02c-4522-a88c-dac23558cfc4}</Type>
-              <Type n="ParamList">{71496971-9e0c-4677-a832-b9583b571130}</Type>
-              <Type n="String">System.String</Type>
-            </TypeList>
-          </XmlArchive>
-        </NWL>
+        <ST><![CDATA[
+FOR i:=1 TO gvl.axisNum DO
+	aFBAxes[i](stAxisStruct:=gvl.axes[i]);
+END_FOR
+
+
+]]></ST>
       </Implementation>
     </Action>
     <Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
@@ -1832,6 +96,15 @@ fbEL1808(
       <LineId Id="2" Count="0" />
       <LineId Id="81" Count="1" />
     </LineIds>
+    <LineIds Name="MAIN.AXES">
+      <LineId Id="3" Count="0" />
+      <LineId Id="1" Count="0" />
+      <LineId Id="4" Count="0" />
+      <LineId Id="10" Count="0" />
+      <LineId Id="7" Count="0" />
+      <LineId Id="16" Count="0" />
+      <LineId Id="11" Count="0" />
+    </LineIds>
     <LineIds Name="MAIN.ERROR">
       <LineId Id="31" Count="0" />
       <LineId Id="10" Count="1" />
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 42f51c4..325287e 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -22,7 +22,10 @@
     <Compile Include="POUs\MAIN.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\DUT_AxisStatus_v0_01.TcDUT">
+    <Compile Include="tc_mca_std_lib\DUTs\MotionFunctions.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisStruct.TcDUT">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\GVLs\GVL.TcGVL">
@@ -133,10 +136,7 @@
     <Compile Include="tc_mca_std_lib\POUs\Hardware\Other\EK1200.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_DriveVirtual.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_NcAxis.TcPOU">
+    <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">
@@ -166,6 +166,9 @@
     <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\VISUs\FbDriveVisual.TcVIS">
       <SubType>Code</SubType>
       <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
@@ -265,6 +268,10 @@
       <DefaultResolution>Tc2_Utilities, * (Beckhoff Automation GmbH)</DefaultResolution>
       <Namespace>Tc2_Utilities</Namespace>
     </PlaceholderReference>
+    <PlaceholderReference Include="Tc3_MC2_AdvancedHoming">
+      <DefaultResolution>Tc3_MC2_AdvancedHoming, * (Beckhoff Automation GmbH)</DefaultResolution>
+      <Namespace>Tc3_MC2_AdvancedHoming</Namespace>
+    </PlaceholderReference>
     <PlaceholderReference Include="Tc3_Module">
       <DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
       <Namespace>Tc3_Module</Namespace>