Merge branch 'master' into mbp-100-read-write-axis-parameters

2020-03-06 13:39:40 +00:00
parent 3e3afe789b c1d435bf9a
commit 94cb3f481d
15 changed files with 581 additions and 2147 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -17,3 +17,5 @@ logs.0*
 solution/TrialLicense.tclrs
 tools/linux/ADS/
 tools/linux/getADSState/getADSState.bin
+_Config/NC/Axes
+_Config/IO
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,3 @@
-[submodule "solution/tc_epicscommodule"]
-	path = solution/tc_epicscommodule
-	url = https://bitbucket.org/europeanspallationsource/tc_epicscommodule.git
 [submodule "solution/tc_project_app/tc_mca_std_lib"]
 	path = solution/tc_project_app/tc_mca_std_lib
 	url = https://bitbucket.org/europeanspallationsource/tc_mca_std_lib.git
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -1,11 +1,10 @@
-image: python:3.7.3
-options:
-  max-time: 1
-pipelines:
-  default:
-     - step:
-          script:
-            - git submodule update --init
-            - git submodule
-            - python twincat_version_manager.py
-            - python check_fix_white_space.py
+image: python:3.7.3
+options:
+  max-time: 1
+pipelines:
+  default:
+     - step:
+          script:
+            - git submodule update --init
+            - python twincat_version_manager.py
+            - python check_fix_white_space.py
--- a/check_fix_white_space.py
+++ b/check_fix_white_space.py
@@ -26,6 +26,8 @@ def fix_white_space(debug, fix_files):

        for pathname in found_files:
            dirty = False
+            had_TAB = False
+            had_trailing_WS = False
            new_lines = []
            if debug >= 1:
                print("tab_with=%d pathname=%s" % (tab_width, pathname))
@@ -41,8 +43,16 @@ def fix_white_space(debug, fix_files):
                    had_crlf = 1 # LF
                # Convert all TAB into SPACE
                new_line = old_line.expandtabs(tabsize=tab_width)
-                # Strip of all trailing white space, including the CRLF
-                new_line = new_line.rstrip("\r\n ")
+                if new_line != old_line:
+                   had_TAB = True
+                # Strip the CRLF
+                new_line = new_line.rstrip("\r\n")
+                # Strip trailing WS
+                tmp_line = new_line.rstrip(" ")
+                if tmp_line != new_line:
+                    had_trailing_WS = True
+                    new_line = tmp_line
+
                if had_crlf == 2:
                    new_line = new_line + '\r\n'
                elif had_crlf == 1:
@@ -61,7 +71,12 @@ def fix_white_space(debug, fix_files):
            if debug >= 1:
                print("pathname=%s dirty=%d" % (pathname, dirty))
            if dirty:
-                incorrect_files[pathname] = True
+                if had_TAB and had_trailing_WS:
+                    incorrect_files[pathname] = 'has white space damage'
+                elif had_TAB:
+                    incorrect_files[pathname] = 'has TAB'
+                elif had_trailing_WS:
+                    incorrect_files[pathname] = 'has trailing whitespace'
                if fix_files:
                    file = open(pathname, 'w', newline='', encoding="iso-8859-1")
                    file.writelines(new_lines)
@@ -88,8 +103,10 @@ if __name__ == "__main__":
        incorrect_files = fix_white_space(debug, fix_files)
        if not fix_files:
            for file in incorrect_files:
-                print("ERROR: '{}' has white space damage".format(file))
+                message = incorrect_files[file]
+                print("ERROR: '{}' {}".format(file,message))
        if incorrect_files:
+            print('run %s --fix' % sys.argv[0])
            exit(1)
    except IOError as e:
        print(e)  # Likely no files found
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -0,0 +1,20 @@
+<?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">
+	<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="1" AddrType="1" ImageType="1">
+				<Name>Image</Name>
+			</Image>
+		</SafTask>
+		<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
+			<Name>NC-Task 1 SVB</Name>
+		</SvbTask>
+	</NC>
+</TcSmItem>
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -7,8 +7,7 @@ VAR_GLOBAL
 END_VAR

 VAR_GLOBAL CONSTANT
-    axisNum :   UINT:=2;
-    //axisCoupleMax :   UINT:=4;
+    axisNum :   UINT:=0;
 END_VAR]]></Declaration>
  </GVL>
 </TcPlcObject>
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -6,6 +6,7 @@ VAR
    sVersion: STRING:='1.0.0';
    i : UINT; //index variable for AXES()
    aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
+
    hmiAxisSelection    :   INT:=1;     //Not possible to use local hmi variables for array indexes

 (******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
@@ -25,19 +26,6 @@ VAR
    //bOutput24 AT %Q*: BOOL:= TRUE;
    //bOutput28 AT %Q*: BOOL:= TRUE;

-(******Error Handling********)
-    fbErrorSystem: FB_ErrorSystem;
-    aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;
-
-    //fbEL1018  : EL1018;
-    //fbEL2808  : EL2808;
-    //fbEL5101  : EL5101;
-    //fbEL9505  : EL9505;
-    //fbEL1252  : EL1252;
-    //fbEL9410  : EL9410;
-    //fbEL7037  : EL7037;
-    //fbEK1110  : EK1110;
-
 (******Startup, Shutdown and UPS********)
    fbUPS                  : FB_S_UPS_CX51x0;
    eUpsMode               : E_S_UPS_Mode   := eSUPS_WrPersistData_Shutdown;
@@ -48,6 +36,7 @@ VAR
    iRetry                 : INT;
    fbReadEncRefSys        : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
    fbRestorePosition      : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
+    fbGetDeviceIdentification : FB_GetDeviceIdentification;

 END_VAR

@@ -55,25 +44,11 @@ VAR PERSISTENT
    bRestoreOnStartup : BOOL;
 END_VAR]]></Declaration>
    <Implementation>
-      <ST><![CDATA[(*fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)
-
-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;
-    STORE_PERSISTENT();
-    RETURN;
-ELSIF eGlobalSUpsState > eSUPS_PowerFailure THEN
-    (* next cycles of powerfailure *)
-    (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown  ... *)
-    RETURN;
-END_IF*)
-
-RESTORE_POSITIONS();
+      <ST><![CDATA[POSITION_RECOVERY();
 PROG();
-AXES();
-ERROR();]]></ST>
+AXES();]]></ST>
    </Implementation>
+    <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
@@ -81,55 +56,40 @@ ERROR();]]></ST>
 END_FOR]]></ST>
      </Implementation>
    </Action>
-    <Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
+    <Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
      <Implementation>
-        <ST><![CDATA[//
-(****FB containting the log of the errors****)
-//
-fbErrorSystem(
-    En:= TRUE,
-    bReset:= ,
-    nErrorNum:= ,
-    bACK:= ,
-    bValidSelection:= ,
-    nTableRowIndex:= ,
-    EnO=> ,
-    nSelectedError=> ,
-    pErrorSystem=> );
+        <ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)

-
-FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
-    aFbAxesError[gvl.iAxis](EN:=TRUE,
-    nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
-    nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
-    ErrorSystem:= fbErrorSystem.pErrorSystem);
-END_FOR
-
-
-
-(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
- add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
-the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
-fbEL1808(
-    En:= TRUE,
-    iTerminal_ID:= 01,
-    ErrorSystem:= fbErorSystem.pErrorSystem,
-    EnO=> ,
-    bError=> );
- *)
-
-]]></ST>
+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;
+    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  ... *)
+    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);
+IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '0') THEN
+    CHECK_UPS();
+    RESTORE_POSITIONS();
+END_IF]]></ST>
      </Implementation>
    </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>
      </Implementation>
    </Action>
-    <Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
+    <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.
@@ -144,7 +104,7 @@ fbEL1808(
 // Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
 ///#########################################################

-IF bRestoreOnStartup THEN
+IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
    bRestoreOnStartup:=FALSE;
    bRestoreExecute:=TRUE;
 END_IF
@@ -176,14 +136,14 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
        ColdStart:
        // First cycle of the PLC, do nothing just give one cycle for variables to initialise
            IF NOT bPositionRestoreDone THEN
-                eStartUp:=eStartUp+1;
+                eStartUp:= ReadAxisFeedbackType;
                iRetry:=0;
            END_IF

        ReadAxisFeedbackType:
        // Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
            bExecuteReadEncRefSys:=TRUE;
-            eStartUp:=eStartUp+1;
+            eStartUp:=CheckReadDone;

        CheckReadDone:
        // Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
@@ -199,14 +159,14 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
                        // .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:=eStartUp-1;
+                        eStartUp:=ReadAxisFeedbackType;
                        iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys 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:=eStartUp+1;
+            eStartUp:= ExecuteRestore;

        ExecuteRestore:
        // Execute position restore by setting fbRestorePosition.execute = TRUE
@@ -217,7 +177,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
                    END_IF
                END_IF
            END_FOR
-            eStartUp:=eStartUp+1;
+            eStartUp:= CheckRestore;

        CheckRestore:
        // Check the set position fbs are finished
@@ -232,7 +192,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
                    END_IF
                END_IF
            END_FOR
-            eStartUp:=eStartUp+1;
+            eStartUp:= FinishRestore;

        FinishRestore:
        // Remove execute = TRUE for fbRestorePosition
@@ -245,7 +205,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
 END_IF]]></ST>
      </Implementation>
    </Action>
-    <Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}">
+    <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;
@@ -259,38 +219,26 @@ END_FOR]]></ST>
      </Implementation>
    </Action>
    <LineIds Name="MAIN">
-      <LineId Id="376" Count="11" />
-      <LineId Id="2" Count="0" />
-      <LineId Id="189" Count="0" />
-      <LineId Id="135" Count="0" />
+      <LineId Id="505" Count="0" />
      <LineId Id="134" Count="0" />
-      <LineId Id="81" Count="1" />
+      <LineId Id="81" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.AXES">
      <LineId Id="1" Count="0" />
      <LineId Id="4" Count="0" />
      <LineId Id="10" Count="0" />
    </LineIds>
-    <LineIds Name="MAIN.ERROR">
-      <LineId Id="31" Count="0" />
-      <LineId Id="10" Count="1" />
-      <LineId Id="34" Count="8" />
+    <LineIds Name="MAIN.CHECK_UPS">
+      <LineId Id="2" Count="11" />
+      <LineId Id="1" Count="0" />
+    </LineIds>
+    <LineIds Name="MAIN.POSITION_RECOVERY">
+      <LineId Id="2" Count="3" />
      <LineId Id="1" Count="0" />
-      <LineId Id="90" Count="1" />
-      <LineId Id="88" Count="1" />
-      <LineId Id="92" Count="2" />
-      <LineId Id="87" Count="0" />
-      <LineId Id="79" Count="1" />
-      <LineId Id="12" Count="0" />
-      <LineId Id="44" Count="8" />
-      <LineId Id="62" Count="0" />
-      <LineId Id="14" Count="0" />
-      <LineId Id="33" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.PROG">
      <LineId Id="2" Count="0" />
      <LineId Id="1" Count="0" />
-      <LineId Id="5" Count="0" />
      <LineId Id="3" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.RESTORE_POSITIONS">
--- a/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
+++ b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
+  <POU Name="tcUNIT_APP_RUN" Id="{677fcae4-9d84-425e-8fcd-8e3d3a1985e8}" SpecialFunc="None">
+    <Declaration><![CDATA[(* tcUNIT Tests: Add this program to PLC task in order to run tcUNIT tests against the declared POU test suites.
+   see https://tcunit.org/ for documentation.*)
+PROGRAM tcUNIT_APP_RUN
+
+VAR
+    (* Declare standard library POU tests to be run
+       E.g. fbMoveNonLinearSlits: FB_MoveNonLinearSlits_Test;*)
+END_VAR]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[TcUnit.RUN();]]></ST>
+    </Implementation>
+    <LineIds Name="tcUNIT_APP_RUN">
+      <LineId Id="45" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -0,0 +1,149 @@
+<?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.
+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
+VAR_INPUT
+    iAxisIndex: INT;  // The idex of the axis to action the method on.
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.axes[iAxisIndex].control.bEnable := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
+      <Declaration><![CDATA[METHOD mExecute : BOOL
+VAR_INPUT
+    iAxisIndex: INT;  // The idex of the axis to action the method on.
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.axes[iAxisIndex].control.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.
+END_VAR]]></Declaration>
+      <Implementation>
+        <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.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
+GVL.axes[iAxisIndex].inputs.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>
+      </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.
+    fTargetVelocity: LREAL;
+    fTargetAcceleration: LREAL;
+    fTargetDeceleration: LREAL;
+    fTargetPosition: LREAL;
+    eMotionStrategy: 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.
+
+GVL.axes[iAxisIndex].control.bEnable := FALSE;
+GVL.axes[iAxisIndex].control.eCommand := eMotionStrategy;
+
+GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
+GVL.axes[iAxisIndex].inputs.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>
+      </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.
+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;
+END_IF
+IF GVL.axes[iAxisIndex].status.bError THEN
+    GVL.axes[iAxisIndex].control.bReset := TRUE;
+END_IF
+IF NOT GVL.axes[iAxisIndex].control.bEnable AND GVL.axes[iAxisIndex].control.bStop THEN
+    GVL.axes[iAxisIndex].control.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.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.axes[iAxisIndex].inputs.bLimitBwd := FALSE;
+GVL.axes[iAxisIndex].inputs.bLimitFwd := FALSE;
+GVL.axes[iAxisIndex].inputs.bEncLAtch := FALSE;
+GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;]]></ST>
+      </Implementation>
+    </Method>
+    <LineIds Name="FB_tcUNIT_common">
+      <LineId Id="9" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mEnableAxis">
+      <LineId Id="5" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mExecute">
+      <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="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" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
--- a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
+++ b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
@@ -0,0 +1,23 @@
+<?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.
+{attribute 'qualified_only'}
+VAR_GLOBAL CONSTANT
+// 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;
+fDEFAULT_TARGET_POSITION: LREAL := 10.0;
+fDEFAULT_TARGET_OVERRIDE: LREAL := 100;
+END_VAR
+
+VAR_GLOBAL
+END_VAR]]></Declaration>
+  </GVL>
+</TcPlcObject>
--- 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
@@ -0,0 +1,248 @@
+<?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
+{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.
+END_VAR]]></Declaration>
+    <Implementation>
+      <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();
+CheckAxisStatus_NewPosition();
+SetAxisControl_Velocity();
+SetAxisInputs_bLimitFwd();]]></ST>
+    </Implementation>
+    <Method Name="CheckAxisStatus_Moving" Id="{f7dcf822-91ec-4555-918f-e2487353578a}">
+      <Declaration><![CDATA[METHOD CheckAxisStatus_Moving
+VAR
+    Result: BOOL;
+    ExpectedResult: BOOL;
+
+    nCycle: UINT;
+    nMaxCycles: UINT := 30;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('test_GIVEN_new_axis_position_WHEN_execute_move_THEN_axis_moves');
+
+ExpectedResult := TRUE;
+
+fbCommon.mPrepareDefaultMove(iTargetAxis);
+fbCommon.mExecute(iTargetAxis);
+
+Result := GVL.axes[iTargetAxis].status.bBusy;
+
+IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
+    AssertEquals(Expected := ExpectedResult,
+                 Actual := Result,
+                 Message := 'Axis is not moving.');
+    TEST_FINISHED();
+ELSE
+    nCycle := nCycle + 1;
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="CheckAxisStatus_NewPosition" Id="{604b9446-af57-41db-afac-f53f5b12cc2c}">
+      <Declaration><![CDATA[METHOD CheckAxisStatus_NewPosition
+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.
+
+InitialValue := GVL.axes[iTargetAxis].config.fPosition;
+ExpectedResult := InitialValue + 10;
+GVL.axes[iTargetAxis].config.fPosition := ExpectedResult;
+
+GVL.axes[iTargetAxis].control.eCommand := MotionFunctions.MoveAbsolute;
+GVL.axes[iTargetAxis].control.bExecute := TRUE;
+
+Result := GVL.axes[iTargetAxis].status.fActPosition;
+
+IF nCycle > nCycleMax OR ExpectedResult = Result THEN
+    AssertEquals(Expected := ExpectedResult,
+                 Actual := Result,
+                 Message := 'fPosition of the axis is different.');
+    TEST_FINISHED();
+ELSE
+    nCycle := nCycle + 1;
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="SetAxisConfig_Acceleration" Id="{2efd2402-6ad3-455d-a703-347847c98522}">
+      <Declaration><![CDATA[METHOD SetAxisConfig_Acceleration
+VAR
+    InitialValue: LREAL;
+    Result: LREAL;
+    ExpectedResult: LREAL;
+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.
+
+ExpectedResult := tcUNIT_gvl.fDEFAULT_TARGET_ACCELERATION;
+fbCommon.mPrepareDefaultMove(iTargetAxis);
+
+Result := GVL.axes[1].config.fAcceleration;
+
+AssertEquals(Expected := ExpectedResult,
+             Actual := Result,
+             Message := 'fAcceleration of the axis is different.');
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="SetAxisControl_Enabled" Id="{749049e6-6152-4a23-ac76-75883bd089b7}">
+      <Declaration><![CDATA[METHOD SetAxisControl_Enabled
+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.
+
+ExpectedResult := TRUE;
+GVL.axes[1].control.bEnable := ExpectedResult;
+
+Result := GVL.axes[iTargetAxis].status.bEnabled;
+
+IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
+    AssertEquals(Expected := ExpectedResult,
+                 Actual := Result,
+                 Message := 'Axis is not enabled.');
+    TEST_FINISHED();
+ELSE
+    nCycle := nCycle + 1;
+END_IF
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="SetAxisControl_Velocity" Id="{f87270b6-fb94-4214-bb13-17f22f6ab8f5}">
+      <Declaration><![CDATA[METHOD SetAxisControl_Velocity
+VAR
+    InitialValue: LREAL;
+    Result: LREAL;
+    ExpectedResult: LREAL;
+
+    fDelta: REAL := 0.01;
+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).
+
+InitialValue := GVL.axes[iTargetAxis].config.fVelocity;
+ExpectedResult := InitialValue + 0.5;
+GVL.Axes[iTargetAxis].config.fVelocity := ExpectedResult;
+
+Result := GVL.axes[iTargetAxis].config.fVelocity;
+
+AssertEquals_LREAL(Expected := ExpectedResult,
+                   Actual := Result,
+                   Delta := fDelta,
+                   Message := 'fVelocity of the axis is different.');
+    TEST_FINISHED();
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="SetAxisInputs_bLimitFwd" Id="{6304c3b1-9e72-403e-9ae2-a5609b1efe92}">
+      <Declaration><![CDATA[METHOD SetAxisInputs_bLimitFwd
+VAR
+    Result: BOOL;
+    ExpectedResult: BOOL;
+
+    nCycle: UINT;
+    nMaxCycles: UINT := 30;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('test_GIVEN_prepare_default_move_WHEN_bFwEnabled_prepared_enabled_THEN_bFwEnable_enabled');
+
+ExpectedResult := TRUE;
+
+GVL.axes[iTargetAxis].inputs.bLimitFwd := TRUE;
+
+Result := GVL.axes[iTargetAxis].status.bFwEnabled;
+
+IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
+    AssertEquals(Expected := ExpectedResult,
+                 Actual := Result,
+                 Message := 'Axis bLimitFwd is not enabled.');
+    TEST_FINISHED();
+ELSE
+    nCycle := nCycle + 1;
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+    <LineIds Name="FB_Axis_TEST">
+      <LineId Id="37" Count="0" />
+      <LineId Id="34" Count="0" />
+      <LineId Id="38" Count="1" />
+      <LineId Id="12" Count="0" />
+      <LineId Id="40" Count="0" />
+      <LineId Id="48" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_Axis_TEST.CheckAxisStatus_Moving">
+      <LineId Id="127" Count="16" />
+    </LineIds>
+    <LineIds Name="FB_Axis_TEST.CheckAxisStatus_NewPosition">
+      <LineId Id="121" Count="21" />
+      <LineId Id="56" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_Axis_TEST.SetAxisConfig_Acceleration">
+      <LineId Id="5" Count="0" />
+      <LineId Id="50" Count="1" />
+      <LineId Id="9" Count="0" />
+      <LineId Id="13" Count="0" />
+      <LineId Id="57" Count="0" />
+      <LineId Id="23" Count="0" />
+      <LineId Id="22" Count="0" />
+      <LineId Id="25" Count="4" />
+      <LineId Id="24" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_Axis_TEST.SetAxisControl_Enabled">
+      <LineId Id="144" Count="16" />
+      <LineId Id="107" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_Axis_TEST.SetAxisControl_Velocity">
+      <LineId Id="5" Count="0" />
+      <LineId Id="92" Count="1" />
+      <LineId Id="10" Count="0" />
+      <LineId Id="61" Count="2" />
+      <LineId Id="67" Count="0" />
+      <LineId Id="69" Count="0" />
+      <LineId Id="91" Count="0" />
+      <LineId Id="70" Count="1" />
+      <LineId Id="80" Count="0" />
+      <LineId Id="72" Count="0" />
+      <LineId Id="24" Count="0" />
+      <LineId Id="86" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_Axis_TEST.SetAxisInputs_bLimitFwd">
+      <LineId Id="24" Count="0" />
+      <LineId Id="26" Count="0" />
+      <LineId Id="25" Count="0" />
+      <LineId Id="48" Count="2" />
+      <LineId Id="67" Count="0" />
+      <LineId Id="19" Count="0" />
+      <LineId Id="58" Count="6" />
+      <LineId Id="57" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
--- 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
@@ -0,0 +1,17 @@
+<?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
+PROGRAM tcUNIT_STD_LIB_RUN
+VAR
+    // Declare standard library POU tests to be run
+    fbFB_Axis: FB_Axis_TEST;
+END_VAR]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[TcUnit.RUN();]]></ST>
+    </Implementation>
+    <LineIds Name="tcUNIT_STD_LIB_RUN">
+      <LineId Id="45" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -6,7 +6,7 @@
    <ProjectGuid>{fb261665-fd20-4bf2-97f8-2854c82b752d}</ProjectGuid>
    <SubObjectsSortedByName>True</SubObjectsSortedByName>
    <Name>tc_project_app</Name>
-    <ProgramVersion>3.1.4023.0</ProgramVersion>
+    <ProgramVersion>3.1.4022.6</ProgramVersion>
    <Application>{047dee04-c246-47b2-8ccc-a15e36987c43}</Application>
    <TypeSystem>{ae4eb5ee-6030-47a6-bf35-5a6afd9efeeb}</TypeSystem>
    <Implicit_Task_Info>{5ef19bd0-aca2-493f-b2a1-89e363647697}</Implicit_Task_Info>
@@ -14,6 +14,7 @@
    <Implicit_Jitter_Distribution>{26d08e27-a705-49a9-95de-a3a0b6ea049c}</Implicit_Jitter_Distribution>
    <LibraryReferences>{577f21c4-8eb2-4f2c-a24e-4c3f62ca96d2}</LibraryReferences>
    <AutoUpdateVisuProfile>true</AutoUpdateVisuProfile>
+    <Released>false</Released>
  </PropertyGroup>
  <ItemGroup>
    <Compile Include="GlobalTextList.TcGTLO">
@@ -74,117 +75,6 @@
    <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_WriteParameterInNc_v1_00.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\DUT_ErrorState.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_ErrorSystem.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_GenericError.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_NC_Error.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_TerminalError.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\ST_ErrorEntry.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\ST_ErrorSystem.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3174_0002.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3214.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3255.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1008.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1018.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1252.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1808.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1809.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1819.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2014.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2252.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2808.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2819.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types\dutEL2521_Ctrl.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types\dutEL2521_Status.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL2522.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL4134.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7037.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7041_0052.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7047.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7211.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5002.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5021.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5042.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5101.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL7201.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EK1100.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EK1110.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EL9410.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EL9505.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
      <SubType>Code</SubType>
    </Compile>
@@ -232,6 +122,21 @@
    <Compile Include="tc_mca_std_lib\POUs\VISUs\visuTextLinks.TcTLO">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="Test\app_tests\tcUNIT_APP_RUN.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Test\common\FB_tcUNIT_common.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Test\common\tcUNIT_GVL.TcGVL">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Test\standard_library_tests\FB_Axis_TEST.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Test\standard_library_tests\tcUNIT_STD_LIB_RUN.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
    <Compile Include="Visualization Manager.TcVMO">
      <SubType>Code</SubType>
    </Compile>
@@ -239,26 +144,18 @@
  <ItemGroup>
    <Folder Include="DUTs" />
    <Folder Include="GVLs" />
+    <Folder Include="Test" />
    <Folder Include="tc_mca_std_lib" />
    <Folder Include="tc_mca_std_lib\DUTs" />
    <Folder Include="tc_mca_std_lib\GVLs" />
    <Folder Include="tc_mca_std_lib\POUs" />
    <Folder Include="tc_mca_std_lib\POUs\ChangeConfig" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System" />
    <Folder Include="tc_mca_std_lib\POUs\Motion" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware" />
-    <Folder Include="tc_mca_std_lib\POUs\ErrorHandling" />
    <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>
@@ -337,6 +234,10 @@
      <DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
      <Namespace>Tc3_Module</Namespace>
    </PlaceholderReference>
+    <PlaceholderReference Include="TcUnit">
+      <DefaultResolution>TcUnit, * (www.tcunit.org)</DefaultResolution>
+      <Namespace>TcUnit</Namespace>
+    </PlaceholderReference>
    <PlaceholderReference Include="VisuDialogs">
      <DefaultResolution>VisuDialogs, * (System)</DefaultResolution>
      <Namespace>VisuDialogs</Namespace>