diff --git a/solution.sln b/solution.sln
index be04ac6..4dccbdf 100644
--- a/solution.sln
+++ b/solution.sln
@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 2013
-VisualStudioVersion = 12.0.21005.1
+# TcXaeShell Solution File, Format Version 11.00
+VisualStudioVersion = 15.0.28010.2050
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}"
 EndProject
@@ -49,8 +49,26 @@ Global
 		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
 		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+		{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {3F42AC3D-5210-4834-8C00-062CE02B7502}
+	EndGlobalSection
 EndGlobal
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 2a8b590..6650b38 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4023.119">
-	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="5.54.104.144.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
+	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="169.254.216.243.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
 			<Licenses>
 				<Target>
@@ -28,26 +28,6 @@
 							<Comment><![CDATA[Outputs: Power for Limit switches and Home Sensors (every 4th output)]]></Comment>
 							<Type>BOOL</Type>
 						</Var>
-						<Var>
-							<Name>MAIN.bOutput5</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.bOutput13</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.bOutput17</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.bOutput21</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>MAIN.bOutput24</Name>
-							<Type>BOOL</Type>
-						</Var>
 					</Vars>
 					<TaskPouOids>
 						<TaskPouOid Prio="20" OTCID="#x08502041"/>
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index d1dec51..fd8f331 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -10,16 +10,36 @@
               <v n="TextDefault">"%2.2f"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"165"</v>
+              <v n="TextDefault">"%2.3f"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"543"</v>
+              <v n="TextDefault">"%2.4f"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"878"</v>
               <v n="TextDefault">"%d"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"294"</v>
+              <v n="TextDefault">"%f"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"706"</v>
               <v n="TextDefault">"%i"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"821"</v>
+              <v n="TextDefault">"%s"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"940"</v>
               <v n="TextDefault">"%x"</v>
@@ -105,6 +125,11 @@
               <v n="TextDefault">"bResetDone"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"693"</v>
+              <v n="TextDefault">"bSet"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"944"</v>
               <v n="TextDefault">"bWarning"</v>
@@ -345,6 +370,11 @@
               <v n="TextDefault">"Errors:"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"768"</v>
+              <v n="TextDefault">"eWriteParameter"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"955"</v>
               <v n="TextDefault">"fAcceleration"</v>
@@ -380,6 +410,11 @@
               <v n="TextDefault">"fRatio"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"781"</v>
+              <v n="TextDefault">"fReadAxisParameter"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"708"</v>
               <v n="TextDefault">"Free Entries:"</v>
@@ -390,6 +425,11 @@
               <v n="TextDefault">"fVelocity"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"688"</v>
+              <v n="TextDefault">"fWriteAxisParameter"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"299"</v>
               <v n="TextDefault">"gearIn"</v>
@@ -470,6 +510,11 @@
               <v n="TextDefault">"Overflows:"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"993"</v>
+              <v n="TextDefault">"Read"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"942"</v>
               <v n="TextDefault">"reset"</v>
@@ -495,6 +540,16 @@
               <v n="TextDefault">"toggle"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"445"</v>
+              <v n="TextDefault">"Write"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"322"</v>
+              <v n="TextDefault">"WriteParameters"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
           </l>
           <l n="Languages" t="ArrayList" />
           <v n="GuidInit">{062c6d5a-aca0-4f82-8481-8e26e8c8681e}</v>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 50f3bf8..1999c50 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 50f3bf804385ffb3afd987829f28e0e698804054
+Subproject commit 1999c5036eeb1bc3ac42b47dd1487f9f14e1eeab
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 3f40c4c..4bbf97c 100644
--- 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>3.1.4022.6</ProgramVersion>
+    <ProgramVersion>3.1.4023.0</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>
@@ -33,6 +33,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\E_HomingRoutines.TcTLEO">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_AxisParameters.TcTLEO">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\E_MotorTypeClass.TcDUT">
       <SubType>Code</SubType>
     </Compile>