From 8caafdc53c8bae361c2c08556cfec577cba89e6c Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Mon, 20 Apr 2020 14:42:36 +0200
Subject: [PATCH 01/12] Initial commit

---
 solution/tc_project_app/GlobalTextList.TcGTLO | 75 ++-----------------
 .../Visualization Manager.TcVMO               |  2 +
 solution/tc_project_app/tc_mca_std_lib        |  2 +-
 .../tc_project_app/tc_project_app.plcproj     |  3 +
 4 files changed, 11 insertions(+), 71 deletions(-)

diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 21a3034..0610c38 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -10,31 +10,11 @@
               <v n="TextDefault">"%2.2f"</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">"706"</v>
-              <v n="TextDefault">"%i"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"940"</v>
               <v n="TextDefault">"%x"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"703"</v>
-              <v n="TextDefault">"Acknowledge"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"710"</v>
-              <v n="TextDefault">"Active:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"952"</v>
               <v n="TextDefault">"actPos"</v>
@@ -65,6 +45,11 @@
               <v n="TextDefault">"bBwEnabled"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"225"</v>
+              <v n="TextDefault">"bCommandAborted"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"946"</v>
               <v n="TextDefault">"bDone"</v>
@@ -100,21 +85,6 @@
               <v n="TextDefault">"bHomed"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"947"</v>
-              <v n="TextDefault">"bResetDone"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"944"</v>
-              <v n="TextDefault">"bWarning"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"704"</v>
-              <v n="TextDefault">"Clear All"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"104"</v>
               <v n="TextDefault">"ENABLE"</v>
@@ -140,26 +110,6 @@
               <v n="TextDefault">"errID"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"701"</v>
-              <v n="TextDefault">"Error #"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"705"</v>
-              <v n="TextDefault">"Error #:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"702"</v>
-              <v n="TextDefault">"Error Log"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">"707"</v>
-              <v n="TextDefault">"Errors:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"955"</v>
               <v n="TextDefault">"fAcceleration"</v>
@@ -180,11 +130,6 @@
               <v n="TextDefault">"fRatio"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"708"</v>
-              <v n="TextDefault">"Free Entries:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"954"</v>
               <v n="TextDefault">"fVelocity"</v>
@@ -215,11 +160,6 @@
               <v n="TextDefault">"homeSensorPos"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"711"</v>
-              <v n="TextDefault">"Inactive:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"116"</v>
               <v n="TextDefault">"jogBw"</v>
@@ -260,11 +200,6 @@
               <v n="TextDefault">"nIndex"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
-            <o>
-              <v n="TextID">"709"</v>
-              <v n="TextDefault">"Overflows:"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
             <o>
               <v n="TextID">"942"</v>
               <v n="TextDefault">"reset"</v>
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
index e63f527..c8abbf3 100644
--- a/solution/tc_project_app/Visualization Manager.TcVMO	
+++ b/solution/tc_project_app/Visualization Manager.TcVMO	
@@ -37,6 +37,7 @@
             <v n="GuidShowChangeConfigDialogFunction">{00000000-0000-0000-0000-000000000000}</v>
             <v n="UseStandardKeyboardHandling">true</v>
             <v n="PaintDeactiveElementsGrayedOut">true</v>
+            <n n="GlobalOpenNumpadKeypadSettings" />
             <v n="ConvertImages">false</v>
             <v n="ConversionType">""</v>
           </o>
@@ -511,6 +512,7 @@
           <n n="FontsConfig" />
           <n n="FontDownloadConfig" />
           <n n="VisuInitializationCode" />
+          <n n="FontSettings" />
           <v n="GuidVisuSettingsPou">{925c2b24-84d1-469a-954d-7af8b99219ef}</v>
           <v n="GuidVisuSettingsPouInit">{f905b871-af16-47c5-a6ef-0a0918a8b009}</v>
           <v n="GuidVisuSettingsPouReInit">{d3706fa7-8257-48b3-af0a-cab0afb4dc49}</v>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 08a5fd1..950a864 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 08a5fd1399ee7f333765229a2737919377ea0e6e
+Subproject commit 950a8649955feb3d9098fee8eb1d786451ae9447
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 23aa3e4..517f340 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -57,6 +57,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisDescription.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisError.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisInputs.TcDUT">
       <SubType>Code</SubType>
     </Compile>

From d55cae194f306e74b3b0493d21e0a15303fec95b Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Mon, 27 Apr 2020 15:05:41 +0200
Subject: [PATCH 02/12] improved handling of reset and jogging

---
 solution/tc_project_app/tc_mca_std_lib | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 950a864..87a35dc 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 950a8649955feb3d9098fee8eb1d786451ae9447
+Subproject commit 87a35dc4c0869c485279a35cd2509df0ba83d4f4

From c2cc2f0705a5f552fc7b5232e2830887fd54819a Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Mon, 4 May 2020 11:29:19 +0200
Subject: [PATCH 03/12] removed inconsitency regarding reset

---
 solution/tc_project_app/tc_mca_std_lib | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 87a35dc..e63ebde 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 87a35dc4c0869c485279a35cd2509df0ba83d4f4
+Subproject commit e63ebdeecfb1b4b363dbdd84480feae06c72506e

From e2321a2b9c0a3d8b5d08a2df1165becca8220e85 Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Tue, 5 May 2020 17:26:10 +0200
Subject: [PATCH 04/12] added new homing code from MBP-131

---
 solution.sln                                  | 16 -----
 solution/tc_project_app/GlobalTextList.TcGTLO | 60 +++++++++++++++++++
 solution/tc_project_app/tc_mca_std_lib        |  2 +-
 .../tc_project_app/tc_project_app.plcproj     |  6 +-
 4 files changed, 64 insertions(+), 20 deletions(-)

diff --git a/solution.sln b/solution.sln
index 9459e68..be04ac6 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
 		{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
 		{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.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 (x64).Build.0 = 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)
 		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
 		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
 		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 0610c38..85e9493 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -85,6 +85,56 @@
               <v n="TextDefault">"bHomed"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"944"</v>
+              <v n="TextDefault">"bWarning"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"986"</v>
+              <v n="TextDefault">"ehomeDirect"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"198"</v>
+              <v n="TextDefault">"eHomeToEncPulse_Bwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"510"</v>
+              <v n="TextDefault">"eHomeToEncPulse_Fwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"287"</v>
+              <v n="TextDefault">"eHomeToEncPulse_viaBwdLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"683"</v>
+              <v n="TextDefault">"eHomeToEncPulse_viaFwdLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"312"</v>
+              <v n="TextDefault">"eHomeToLimit_Bwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"635"</v>
+              <v n="TextDefault">"eHomeToLimit_Fwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"150"</v>
+              <v n="TextDefault">"eHomeToRef_Bwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"861"</v>
+              <v n="TextDefault">"eHomeToRef_Fwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"104"</v>
               <v n="TextDefault">"ENABLE"</v>
@@ -120,6 +170,16 @@
               <v n="TextDefault">"fDeceleration"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"531"</v>
+              <v n="TextDefault">"fHomeFinishDistance"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"613"</v>
+              <v n="TextDefault">"fHomePosition"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"957"</v>
               <v n="TextDefault">"fPosition"</v>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index e63ebde..9815816 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit e63ebdeecfb1b4b363dbdd84480feae06c72506e
+Subproject commit 98158162d852df88051cc64e166c45c8d1c5f1cc
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 517f340..e802ca0 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -93,10 +93,10 @@
     <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_HomeReadNcVelocities.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_ReadNcVelocities.TcPOU">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\VISUs\languageSupport.TcTLO">
@@ -131,6 +131,7 @@
   <ItemGroup>
     <Folder Include="DUTs" />
     <Folder Include="GVLs" />
+    <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
     <Folder Include="tc_mca_std_lib\VISUs" />
     <Folder Include="Test" />
     <Folder Include="tc_mca_std_lib" />
@@ -139,7 +140,6 @@
     <Folder Include="tc_mca_std_lib\POUs" />
     <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="Test\app_tests" />
     <Folder Include="Test\common" />
     <Folder Include="Test\standard_library_tests" />

From 2e497bbf4254c5cdecef8296d32331b612fa4b9f Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Tue, 5 May 2020 18:59:16 +0200
Subject: [PATCH 05/12] corrected white spaces

---
 solution/tc_project_app/GlobalTextList.TcGTLO | 7 ++++++-
 solution/tc_project_app/tc_mca_std_lib        | 2 +-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 85e9493..4012065 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -45,6 +45,11 @@
               <v n="TextDefault">"bBwEnabled"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"633"</v>
+              <v n="TextDefault">"bCoammandAborted"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"225"</v>
               <v n="TextDefault">"bCommandAborted"</v>
@@ -87,7 +92,7 @@
             </o>
             <o>
               <v n="TextID">"944"</v>
-              <v n="TextDefault">"bWarning"</v>
+              <v n="TextDefault">"bCommandAborted"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
             <o>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 9815816..868d8f5 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 98158162d852df88051cc64e166c45c8d1c5f1cc
+Subproject commit 868d8f576a5aa93c4a3a969e615a10b96b5ddc29

From 7724dbee1a531c89d62384c1901453b7ccb6b69b Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Tue, 2 Jun 2020 17:03:28 +0200
Subject: [PATCH 06/12] did changes according Federicos comments to the pull
 request. Added code     from MBP-100.

---
 solution/tc_project_app/GlobalTextList.TcGTLO | 20 +++++++++++++++++++
 solution/tc_project_app/tc_mca_std_lib        |  2 +-
 .../tc_project_app/tc_project_app.plcproj     |  3 +++
 3 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 82986d0..c059fa7 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -10,6 +10,11 @@
               <v n="TextDefault">"%2.2f"</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">"940"</v>
               <v n="TextDefault">"%x"</v>
@@ -165,6 +170,11 @@
               <v n="TextDefault">"errID"</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>
@@ -200,11 +210,21 @@
               <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">"954"</v>
               <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>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index d289e6d..c9ffae6 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit d289e6d1684edfc7414c1d660000bc856d7dbe59
+Subproject commit c9ffae6164a23a3412d62f02a90a807a22e904e3
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 35a95a7..edfc340 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -30,6 +30,9 @@
     <Compile Include="POUs\MAIN.TcPOU">
       <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_HomingRoutines.TcTLEO">
       <SubType>Code</SubType>
     </Compile>

From 518156b387c24fe218a235e9c522afc92a73cfbc Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Tue, 2 Jun 2020 17:50:59 +0200
Subject: [PATCH 07/12]     added changes according Simons suggestions in
 MBP-116 with bxxxx helper     variables.

---
 solution/tc_project_app/tc_mca_std_lib | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index c9ffae6..20ef5b5 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit c9ffae6164a23a3412d62f02a90a807a22e904e3
+Subproject commit 20ef5b5988e893d8bcecc90654926850eab2beac

From b49c9f61016cc353bf66cd56d2ab1b679991bf92 Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Thu, 4 Jun 2020 17:22:05 +0200
Subject: [PATCH 08/12] removed busy check for fbReadParameters

---
 solution/tc_project_app/tc_mca_std_lib | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 20ef5b5..311a6be 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 20ef5b5988e893d8bcecc90654926850eab2beac
+Subproject commit 311a6be50d0a408bb6702cb40d1e9c246136c2d8

From c72741a8b86d213b7834d9cdcec480b48bd767fa Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Thu, 4 Jun 2020 18:24:18 +0200
Subject: [PATCH 09/12] corrected white space errors

---
 solution/tc_project_app/tc_mca_std_lib | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 28e6f65..ec0227a 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 28e6f656815f53f962544a1c7ded51af3e7b5d91
+Subproject commit ec0227a94eed02a002476987f98c59acb09e442d

From 5d79e74e6ca3f334a2a07e8ce5d88efbc2cda345 Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Tue, 16 Jun 2020 12:56:52 +0200
Subject: [PATCH 10/12] changed bBUSY to bBusy

---
 solution/tc_project_app/tc_mca_std_lib | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index ec0227a..3cd9c3f 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit ec0227a94eed02a002476987f98c59acb09e442d
+Subproject commit 3cd9c3f92b6818c8878f4ec1d10665a8341cbe45

From 064d2c1728b3e8b7de8852998dbb360a90a3ba35 Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Thu, 18 Jun 2020 18:37:43 +0200
Subject: [PATCH 11/12] did some minor editorial changes

---
 .../Test/common/FB_tcUNIT_common.TcPOU        | 122 +++++++++---------
 solution/tc_project_app/tc_mca_std_lib        |   2 +-
 2 files changed, 62 insertions(+), 62 deletions(-)

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 5c7c306..29730bc 100644
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -13,37 +13,37 @@ END_VAR]]></Declaration>
     <Method Name="mDisableAxis" Id="{22a3dd98-69f0-4b92-8109-1b0c2fe2344d}">
       <Declaration><![CDATA[METHOD mDisableAxis: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
       <Declaration><![CDATA[METHOD mEnableAxis: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
       <Declaration><![CDATA[METHOD mExecute: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mExecute_SetFALSE" Id="{cc074392-b19d-414a-9010-72a4fa4d5f7a}">
       <Declaration><![CDATA[METHOD mExecute_SetFALSE: BOOL
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mGearOut" Id="{65c5860b-0759-45a5-a8a4-27fe9453aa76}">
@@ -60,28 +60,28 @@ END_VAR
       <Declaration><![CDATA[METHOD mPrepareDefaultMove
 
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: 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.
 
-GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;
-GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
+GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;
+GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
-GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
 
-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>
+GVL.astAxes[nAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
+GVL.astAxes[nAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
+GVL.astAxes[nAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
+GVL.astAxes[nAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
+GVL.astAxes[nAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareGearInMultiMaster" Id="{b94784af-8414-4f79-a0cd-7d3b82710c1e}">
       <Declaration><![CDATA[METHOD mPrepareGearInMultiMaster
 VAR_INPUT
-    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    nAxisIndex: UINT;  // The idex of the axis to action the method on.
     astGearAxis: ARRAY[1..4] OF ST_GearAxis;
 END_VAR
 VAR
@@ -89,30 +89,30 @@ VAR
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Prepare the axis so it is ready to be coupled
-GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
+GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
 FOR i:= 1 TO tcUNIT_GVL.nMAX_MASTERS DO
-    GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
-    GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
+    GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
+    GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
 END_FOR]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareHome" Id="{29a1cce2-2fc4-48e1-86f6-27b6dd699cd2}">
       <Declaration><![CDATA[METHOD mPrepareHome
 VAR_INPUT
-    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    nAxisIndex: UINT;  // The idex of the axis to action the method on.
     eHomingRoutine: E_HomingRoutines;
 END_VAR
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
-GVL.astAxes[iAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
+GVL.astAxes[nAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
       <Declaration><![CDATA[METHOD mPrepareMove
 
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: UINT; //The idex of the axis to action the method on.
     fTargetVelocity: LREAL;
     fTargetAcceleration: LREAL;
     fTargetDeceleration: LREAL;
@@ -122,22 +122,22 @@ 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.astAxes[iAxisIndex].stControl.bEnable := FALSE;
-GVL.astAxes[iAxisIndex].stControl.eCommand := eMotionStrategy;
+GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[nAxisIndex].stControl.eCommand := eMotionStrategy;
 
-GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
-GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
 
-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>
+GVL.astAxes[nAxisIndex].stConfig.fVelocity := fTargetVelocity;
+GVL.astAxes[nAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
+GVL.astAxes[nAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
+GVL.astAxes[nAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mReset" Id="{59e8bfe4-ab50-4ad3-9095-95e359837091}">
       <Declaration><![CDATA[METHOD mReset : BOOL
 VAR_INPUT
-    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    nAxisIndex: UINT;  // The idex of the axis to action the method on.
 END_VAR
 VAR
     iCycles: UINT;
@@ -145,10 +145,10 @@ VAR
 END_VAR
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
+        <ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
 FOR iCycles:= 1 TO iMaxCycles DO
-    GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
-    IF GVL.astaxes[iAxisIndex].stStatus.bError := FALSE THEN
+    GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
+    IF GVL.astaxes[nAxisIndex].stStatus.bError := FALSE THEN
         EXIT;
     END_IF
 END_FOR]]></ST>
@@ -158,39 +158,39 @@ END_FOR]]></ST>
       <Declaration><![CDATA[METHOD mSetAxisDefaults
 
 VAR_INPUT
-    iAxisIndex: UINT; //The idex of the axis to action the method on.
+    nAxisIndex: 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.astAxes[iAxisIndex].stStatus.bBusy THEN
-    GVL.astAxes[iAxisIndex].stControl.bStop := TRUE;
+IF GVL.astAxes[nAxisIndex].stStatus.bBusy THEN
+    GVL.astAxes[nAxisIndex].stControl.bStop := TRUE;
 END_IF
-IF GVL.astAxes[iAxisIndex].stStatus.bError THEN
-    GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
+IF GVL.astAxes[nAxisIndex].stStatus.bError THEN
+    GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
 END_IF
-IF NOT GVL.astAxes[iAxisIndex].stControl.bEnable AND GVL.astAxes[iAxisIndex].stControl.bStop THEN
-    GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
+IF NOT GVL.astAxes[nAxisIndex].stControl.bEnable AND GVL.astAxes[nAxisIndex].stControl.bStop THEN
+    GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
 END_IF
 
-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.astAxes[nAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bReset := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bJogFwd := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bJogBwd := FALSE;
+GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
+GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-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.astAxes[nAxisIndex].stConfig.fVelocity := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.fAcceleration := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.fDeceleration := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.fPosition := 0;
+GVL.astAxes[nAxisIndex].stConfig.fOverride := 0.0;
+GVL.astAxes[nAxisIndex].stConfig.eHomeSeq := 0;
 
-GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := FALSE;
-GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := FALSE;
-GVL.astAxes[iAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
+GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := FALSE;
+GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := FALSE;
+GVL.astAxes[nAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
       </Implementation>
     </Method>
     <LineIds Name="FB_tcUNIT_common">
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 3cd9c3f..09df352 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 3cd9c3f92b6818c8878f4ec1d10665a8341cbe45
+Subproject commit 09df35232ce29e4ac286712b4664a9cf5babf344

From 211968a18f374b67f585688ed4a30bc7dfd0308f Mon Sep 17 00:00:00 2001
From: kleines <h.kleines@fz-juelich.de>
Date: Mon, 22 Jun 2020 12:18:36 +0200
Subject: [PATCH 12/12] do not set nResetErrorID to 0 if an error in fbReset
 occurs

---
 solution/tc_project_app/tc_mca_std_lib | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 09df352..14f8d01 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 09df35232ce29e4ac286712b4664a9cf5babf344
+Subproject commit 14f8d0185726c02fbec683577613f64e87485d9c