diff --git a/solution.sln b/solution.sln
index 9459e68..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
@@ -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)
@@ -65,8 +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 f74cba4..e0f327a 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,6 +1,622 @@
 <?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">
 	<DataTypes>
+		<DataType>
+			<Name GUID="{18071995-0000-0000-0000-000000000035}" TcBaseType="true" HideType="true">UINTARR2</Name>
+			<BitSize>32</BitSize>
+			<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
+			<ArrayInfo>
+				<LBound>0</LBound>
+				<Elements>2</Elements>
+			</ArrayInfo>
+			<Format Name="ArrayView" Preview="[%u, %u]">
+				<Printf>[%u, %u]</Printf>
+				<Parameter>[0]</Parameter>
+				<Parameter>[1]</Parameter>
+			</Format>
+			<Format Name="MixedView" Preview="%x [%u, %u]">
+				<Printf>0x%08x [%u, %u]</Printf>
+				<Parameter>.</Parameter>
+				<Parameter>[0]</Parameter>
+				<Parameter>[1]</Parameter>
+			</Format>
+			<Format Name="32bitView" Preview="%x (%u)">
+				<Printf>0x%08x (%u)</Printf>
+				<Parameter>.</Parameter>
+				<Parameter>.</Parameter>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN2B</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataIn1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<Comment><![CDATA[Encoder Status 4 (automatically linked):
+0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+]]></Comment>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDcInputTime</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>288</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{55728D3F-7B02-4448-8096-580617CECBA3}">NCENCODERSTRUCT_IN</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataOut1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{5FE34D39-3B85-4458-8264-8C4874D8985C}">NCENCODERSTRUCT_OUT</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_IN2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataIn1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<Comment><![CDATA[Drive Status 4 (automatically linked):
+0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+
+Drive Status 4 (manually linked):
+0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
+]]></Comment>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataIn6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nState8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDcOutputTime</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{9AC463DC-3417-4DEA-AD2A-5FBD4C9C15AA}">NCDRIVESTRUCT_IN</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_OUT2</Name>
+			<BitSize>320</BitSize>
+			<SubItem>
+				<Name>nDataOut1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl1</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl2</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>72</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>80</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>88</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut3</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut4</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>160</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nDataOut6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl5</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>224</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl6</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>232</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl7</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>240</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>nCtrl8</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>248</BitOffs>
+			</SubItem>
+			<Relations>
+				<Relation>
+					<Type GUID="{595E16A9-7783-4B1C-A30C-48BA6EFCC859}">NCDRIVESTRUCT_OUT</Type>
+					<MapEntry>
+						<BitSize>96</BitSize>
+					</MapEntry>
+				</Relation>
+			</Relations>
+		</DataType>
+		<DataType>
+			<Name GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">PLCTONC_AXIS_REF_CTRL</Name>
+			<BitSize>32</BitSize>
+			<SubItem>
+				<Name>Enable</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnablePlus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>1</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>FeedEnableMinus</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>2</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>HomingSensor</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>5</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AcceptBlockedDrive</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>8</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>30</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>NcDebugFlag</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
+				<BitSize>1</BitSize>
+				<BitOffs>31</BitOffs>
+			</SubItem>
+			<Format Name="Short">
+				<Printf>%08x</Printf>
+			</Format>
+			<Format Name="Cpp">
+				<Printf>0x%08x</Printf>
+			</Format>
+			<Format Name="IEC">
+				<Printf>16#%08X</Printf>
+			</Format>
+		</DataType>
+		<DataType>
+			<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
+			<BitSize>1024</BitSize>
+			<SubItem>
+				<Name>ControlDWord</Name>
+				<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>0</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>Override</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>32</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeRequest</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>64</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeDWord</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>96</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>AxisModeLReal</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>128</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PositionCorrection</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>192</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetPos</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>256</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetVelo</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>320</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetAcc</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>384</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtSetDirection</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
+				<BitSize>32</BitSize>
+				<BitOffs>448</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>ExtControllerOutput</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>512</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio1</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>576</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio2</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>640</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio3</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>704</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>GearRatio4</Name>
+				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
+				<BitSize>64</BitSize>
+				<BitOffs>768</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>MapState</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>832</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleControl</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>840</BitOffs>
+			</SubItem>
+			<SubItem>
+				<Name>PlcCycleCount</Name>
+				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
+				<BitSize>8</BitSize>
+				<BitOffs>848</BitOffs>
+			</SubItem>
+			<Properties>
+				<Property>
+					<Name>NcStructType</Name>
+					<Value>1</Value>
+				</Property>
+			</Properties>
+			<Relations>
+				<Relation Priority="100">
+					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
+				</Relation>
+			</Relations>
+		</DataType>
 		<DataType>
 			<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
 			<BitSize>32</BitSize>
@@ -694,186 +1310,8 @@ External Setpoint Generation:
 				</Relation>
 			</Relations>
 		</DataType>
-		<DataType>
-			<Name GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">PLCTONC_AXIS_REF_CTRL</Name>
-			<BitSize>32</BitSize>
-			<SubItem>
-				<Name>Enable</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>0</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>FeedEnablePlus</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>1</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>FeedEnableMinus</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>2</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>HomingSensor</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>5</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AcceptBlockedDrive</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>8</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PlcDebugFlag</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>30</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>NcDebugFlag</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
-				<BitSize>1</BitSize>
-				<BitOffs>31</BitOffs>
-			</SubItem>
-			<Format Name="Short">
-				<Printf>%08x</Printf>
-			</Format>
-			<Format Name="Cpp">
-				<Printf>0x%08x</Printf>
-			</Format>
-			<Format Name="IEC">
-				<Printf>16#%08X</Printf>
-			</Format>
-		</DataType>
-		<DataType>
-			<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
-			<BitSize>1024</BitSize>
-			<SubItem>
-				<Name>ControlDWord</Name>
-				<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>0</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>Override</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>32</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AxisModeRequest</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>64</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AxisModeDWord</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>96</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>AxisModeLReal</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>128</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PositionCorrection</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>192</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetPos</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>256</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetVelo</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>320</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetAcc</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>384</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtSetDirection</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
-				<BitSize>32</BitSize>
-				<BitOffs>448</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>ExtControllerOutput</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>512</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio1</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>576</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio2</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>640</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio3</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>704</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>GearRatio4</Name>
-				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
-				<BitSize>64</BitSize>
-				<BitOffs>768</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>MapState</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
-				<BitSize>8</BitSize>
-				<BitOffs>832</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PlcCycleControl</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
-				<BitSize>8</BitSize>
-				<BitOffs>840</BitOffs>
-			</SubItem>
-			<SubItem>
-				<Name>PlcCycleCount</Name>
-				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
-				<BitSize>8</BitSize>
-				<BitOffs>848</BitOffs>
-			</SubItem>
-			<Properties>
-				<Property>
-					<Name>NcStructType</Name>
-					<Value>1</Value>
-				</Property>
-			</Properties>
-			<Relations>
-				<Relation Priority="100">
-					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
-				</Relation>
-			</Relations>
-		</DataType>
 	</DataTypes>
-	<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}" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
 			<Licenses>
 				<Target>
@@ -889,8 +1327,456 @@ 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="1" AddrType="1" ImageType="1">
+						<Name>Image</Name>
+					</Image>
+				</SafTask>
+				<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
+					<Name>NC-Task 1 SVB</Name>
+				</SvbTask>
+				<Axis Id="1" CreateSymbols="true" AxisType="1">
+					<Name>Axis 1</Name>
+					<AxisPara>
+						<OtherSettings AllowMotionCmdToSlave="true"/>
+					</AxisPara>
+					<Encoder Name="Enc" EncType="1">
+						<EncPara>
+							<SoftEndMinControl Enable="true" Range="10"/>
+						</EncPara>
+						<Vars VarGrpType="1">
+							<Name>Inputs</Name>
+							<Var>
+								<Name>In</Name>
+								<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
+								<BitOffs>1024</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nState4</Name>
+									<Comment><![CDATA[Encoder Status 4 (automatically linked):
+0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+]]></Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn6</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn7</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+						<Vars VarGrpType="2">
+							<Name>Outputs</Name>
+							<Var>
+								<Name>Out</Name>
+								<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
+								<BitOffs>2048</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut2</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+					</Encoder>
+					<Drive Name="Drive" DrvType="5">
+						<DrvPara>
+							<Analog TorqueScale="10" ScaleFactorActTorque="0.1"/>
+							<TimeComp TaskDelayCycles="1"/>
+						</DrvPara>
+						<Vars VarGrpType="1">
+							<Name>Inputs</Name>
+							<Var>
+								<Name>In</Name>
+								<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
+								<BitOffs>1344</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nState4</Name>
+									<Comment><![CDATA[Drive Status 4 (automatically linked):
+0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+
+Drive Status 4 (manually linked):
+0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
+]]></Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+						<Vars VarGrpType="2">
+							<Name>Outputs</Name>
+							<Var>
+								<Name>Out</Name>
+								<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
+								<BitOffs>2368</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nCtrl2</Name>
+									<Comment><![CDATA[Digital Outputs Setpoint Generator:
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+								</SubVar>
+								<SubVar>
+									<Name>nCtrl3</Name>
+									<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+					</Drive>
+					<Controller Name="Ctrl" CtrType="1">
+						<CtrPara PriorControlFactor="1">
+							<Observer BandWidth="20"/>
+						</CtrPara>
+					</Controller>
+					<Vars VarGrpType="1" InsertType="1">
+						<Name>Inputs</Name>
+						<Var>
+							<Name>FromPlc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+						</Var>
+					</Vars>
+					<Vars VarGrpType="2" InsertType="1">
+						<Name>Outputs</Name>
+						<Var>
+							<Name>ToPlc</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>
+					</Vars>
+				</Axis>
+				<Axis Id="2" CreateSymbols="true" AxisType="1">
+					<Name>Axis 2</Name>
+					<AxisPara>
+						<OtherSettings AllowMotionCmdToSlave="true"/>
+					</AxisPara>
+					<Encoder Name="Enc" EncType="1">
+						<Vars VarGrpType="1">
+							<Name>Inputs</Name>
+							<Var>
+								<Name>In</Name>
+								<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
+								<BitOffs>2688</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nState4</Name>
+									<Comment><![CDATA[Encoder Status 4 (automatically linked):
+0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+]]></Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn6</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn7</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+						<Vars VarGrpType="2">
+							<Name>Outputs</Name>
+							<Var>
+								<Name>Out</Name>
+								<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
+								<BitOffs>4736</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut2</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+					</Encoder>
+					<Drive Name="Drive" DrvType="5">
+						<DrvPara>
+							<Analog TorqueScale="10" ScaleFactorActTorque="0.1"/>
+							<TimeComp TaskDelayCycles="1"/>
+						</DrvPara>
+						<Vars VarGrpType="1">
+							<Name>Inputs</Name>
+							<Var>
+								<Name>In</Name>
+								<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
+								<BitOffs>3008</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nState4</Name>
+									<Comment><![CDATA[Drive Status 4 (automatically linked):
+0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
+0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
+
+Drive Status 4 (manually linked):
+0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
+]]></Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataIn6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+						<Vars VarGrpType="2">
+							<Name>Outputs</Name>
+							<Var>
+								<Name>Out</Name>
+								<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
+								<BitOffs>5056</BitOffs>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut1</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut2</Name>
+								</SubVar>
+								<SubVar>
+									<Name>nCtrl2</Name>
+									<Comment><![CDATA[Digital Outputs Setpoint Generator:
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+								</SubVar>
+								<SubVar>
+									<Name>nCtrl3</Name>
+									<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
+0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
+0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
+0x80 (1000 0000) = Stop
+]]></Comment>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut3</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut4</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut5</Name>
+								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nDataOut6</Name>
+								</SubVar>
+							</Var>
+						</Vars>
+					</Drive>
+					<Controller Name="Ctrl" CtrType="1">
+						<CtrPara PriorControlFactor="1">
+							<Observer BandWidth="20"/>
+						</CtrPara>
+					</Controller>
+					<Vars VarGrpType="1" InsertType="1">
+						<Name>Inputs</Name>
+						<Var>
+							<Name>FromPlc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+							<BitOffs>1664</BitOffs>
+						</Var>
+					</Vars>
+					<Vars VarGrpType="2" InsertType="1">
+						<Name>Outputs</Name>
+						<Var>
+							<Name>ToPlc</Name>
+							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+							<BitOffs>2688</BitOffs>
+							<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>
+					</Vars>
+				</Axis>
+			</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">
+			<Project Disabled="true" 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">
 					<Name>tc_epicscommodule Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
@@ -1054,5 +1940,19 @@ External Setpoint Generation:
 				</Instance>
 			</Project>
 		</Plc>
+		<Io/>
 	</Project>
+	<Mappings>
+		<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030010" Watchdog="14000000040000000400000004000000"/>
+		<OwnerA Name="TIPC^tc_project_app^tc_project_app Instance">
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
+				<Link VarA="PlcTask Inputs^GVL.axes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.axes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
+				<Link VarA="PlcTask Inputs^GVL.axes[2].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.axes[2].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
+		</OwnerA>
+	</Mappings>
 </TcSmProject>
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 1818614..3982a2b 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>
@@ -195,6 +220,16 @@
               <v n="TextDefault">"gearOut"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"566"</v>
+              <v n="TextDefault">"homeSensorNeg"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"677"</v>
+              <v n="TextDefault">"homeSensorPos"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"711"</v>
               <v n="TextDefault">"Inactive:"</v>
@@ -240,6 +275,11 @@
               <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>
@@ -260,6 +300,11 @@
               <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>
           </l>
           <l n="Languages" t="ArrayList" />
           <v n="GuidInit">{062c6d5a-aca0-4f82-8481-8e26e8c8681e}</v>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index f81cabd..81ced47 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -55,7 +55,7 @@ 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 *)
+      <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 *)
@@ -67,7 +67,7 @@ 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
+END_IF*)
 
 RESTORE_POSITIONS();
 PROG();
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 852ea37..ce4d55e 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492
+Subproject commit ce4d55ec59eeb6d4114ec605b1d57f6fecaa59a3
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index b5d34ae..00b04b1 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -29,6 +29,9 @@
     <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\RestorePosition.TcDUT">
       <SubType>Code</SubType>
     </Compile>
@@ -352,8 +355,8 @@
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>
-  <Data>
-    <o xml:space="preserve" t="OptionKey">
+        <Data>
+          <o xml:space="preserve" t="OptionKey">
       <v n="Name">"&lt;ProjectRoot&gt;"</v>
       <d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
         <v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -404,15 +407,15 @@
       </d>
       <d n="Values" t="Hashtable" />
     </o>
-  </Data>
-  <TypeList>
-    <Type n="Boolean">System.Boolean</Type>
-    <Type n="Hashtable">System.Collections.Hashtable</Type>
-    <Type n="Int32">System.Int32</Type>
-    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-    <Type n="String">System.String</Type>
-  </TypeList>
-</XmlArchive>
+        </Data>
+        <TypeList>
+          <Type n="Boolean">System.Boolean</Type>
+          <Type n="Hashtable">System.Collections.Hashtable</Type>
+          <Type n="Int32">System.Int32</Type>
+          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+          <Type n="String">System.String</Type>
+        </TypeList>
+      </XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>
\ No newline at end of file