diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 5947dd3..b64b221 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,626 +1,6 @@
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-				<Printf>[%u, %u]</Printf>
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-]]>
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-			<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>
@@ -1320,6 +700,184 @@ 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}" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
@@ -1337,707 +895,6 @@ External Setpoint Generation:
 				</Task>
 			</Tasks>
 		</System>
-		<Motion>
-			<NC>
-				<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
-					<Name>NC-Task 1 SAF</Name>
-					<Vars VarGrpType="1" InsertType="1">
-						<Name>Inputs</Name>
-					</Vars>
-					<Vars VarGrpType="2" InsertType="1">
-						<Name>Outputs</Name>
-					</Vars>
-					<Image Id="3" AddrType="1" ImageType="1">
-						<Name>Image</Name>
-					</Image>
-				</SafTask>
-				<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
-					<Name>NC-Task 1 SVB</Name>
-				</SvbTask>
-				<Axis CreateSymbols="true" AxisType="1" Id="1">
-					<Name>Axis 1</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>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 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 CreateSymbols="true" AxisType="1" Id="2">
-					<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 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>
-				<Axis CreateSymbols="true" AxisType="1" Id="3">
-					<Name>Axis 3</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>4352</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>7424</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 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>4672</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>7744</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>3328</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>5376</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">
 				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_epicscommodule\tc_epicscommodule.tmc">
@@ -2314,23 +1171,5 @@ External Setpoint Generation:
 				</Instance>
 			</Project>
 		</Plc>
-		<Io/>
 	</Project>
-	<Mappings>
-		<MappingInfo Identifier="{05000010-2041-0850-3000-040340205008}" Id="#x02030010" Watchdog="04000000080000000400000004000000"/>
-		<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>
-			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 3">
-				<Link VarA="PlcTask Inputs^GVL.axes[3].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
-				<Link VarA="PlcTask Outputs^GVL.axes[3].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
-			</OwnerB>
-		</OwnerA>
-	</Mappings>
 </TcSmProject>
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
new file mode 100644
index 0000000..a366e64
--- /dev/null
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.17">
+  <GVL Name="GVL_APP" Id="{8fe9690c-7907-432e-bedb-6fc99b5ce255}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+VAR_GLOBAL
+	
+END_VAR
+
+VAR_GLOBAL CONSTANT
+	axisNum	:	UINT:=3;
+	//axisCoupleMax	:	UINT:=4;
+END_VAR]]></Declaration>
+  </GVL>
+</TcPlcObject>
\ No newline at end of file