diff --git a/solution.sln b/solution.sln
index 976e55d..1bff69d 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)
@@ -65,6 +49,22 @@ 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 (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)
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 9f5acc4..5567116 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -885,14 +885,14 @@ External Setpoint Generation:
 				<Task Id="2" Priority="26" CycleTime="10000" AmsPort="350" AdtTasks="true">
 					<Name>PlcTaskCom</Name>
 				</Task>
-				<Task Id="4" Priority="20" CycleTime="100000" AmsPort="351" AdtTasks="true">
+				<Task Id="4" Priority="20" CycleTime="10000" AmsPort="351" AdtTasks="true">
 					<Name>PlcTask</Name>
 				</Task>
 			</Tasks>
 		</System>
 		<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">
+				<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>
 					<TaskPouOids>
@@ -901,7 +901,7 @@ External Setpoint Generation:
 				</Instance>
 			</Project>
 			<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="tc_project_app\tc_project_app.plcproj" TmcFilePath="tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
-				<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2">
+				<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
 					<Name>tc_project_app Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Vars VarGrpType="1">
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 8b7a3e3..3d0d5b3 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -182,7 +182,7 @@ END_VAR
                           <v n="LValue">false</v>
                           <v n="Boolean">false</v>
                           <v n="IsInstance">true</v>
-                          <v n="Id">9L</v>
+                          <v n="Id">67L</v>
                         </o>
                         <o n="OutputItems" t="OutputItemList">
                           <l2 n="OutputItems" cet="Operand">
@@ -347,6 +347,38 @@ END_VAR
                               <v n="IsInstance">false</v>
                               <v n="Id">20L</v>
                             </o>
+                            <o>
+                              <v n="Operand">""</v>
+                              <n n="Type" />
+                              <v n="Comment">""</v>
+                              <v n="SymbolComment">""</v>
+                              <v n="Address">""</v>
+                              <o n="Flags" t="Flags">
+                                <v n="Flags">0</v>
+                                <v n="Fixed">false</v>
+                                <v n="Extensible">false</v>
+                              </o>
+                              <v n="LValue">true</v>
+                              <v n="Boolean">false</v>
+                              <v n="IsInstance">false</v>
+                              <v n="Id">69L</v>
+                            </o>
+                            <o>
+                              <v n="Operand">""</v>
+                              <n n="Type" />
+                              <v n="Comment">""</v>
+                              <v n="SymbolComment">""</v>
+                              <v n="Address">""</v>
+                              <o n="Flags" t="Flags">
+                                <v n="Flags">0</v>
+                                <v n="Fixed">false</v>
+                                <v n="Extensible">false</v>
+                              </o>
+                              <v n="LValue">true</v>
+                              <v n="Boolean">false</v>
+                              <v n="IsInstance">false</v>
+                              <v n="Id">70L</v>
+                            </o>
                           </l2>
                         </o>
                         <o n="Flags" t="Flags">
@@ -354,123 +386,7 @@ END_VAR
                           <v n="Fixed">true</v>
                           <v n="Extensible">false</v>
                         </o>
-                        <l2 n="InputFlags" cet="Flags">
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">true</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                          <o>
-                            <v n="Flags">0</v>
-                            <v n="Fixed">false</v>
-                            <v n="Extensible">false</v>
-                          </o>
-                        </l2>
+                        <n n="InputFlags" />
                         <l2 n="InputItems" cet="BoxTreeOperand">
                           <o>
                             <o n="Operand" t="Operand">
@@ -759,8 +675,8 @@ END_VAR
                           </o>
                           <o>
                             <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
+                              <v n="Operand">"bHomeSensor"</v>
+                              <v n="Type">"BOOL"</v>
                               <v n="Comment">""</v>
                               <v n="SymbolComment">""</v>
                               <v n="Address">""</v>
@@ -835,8 +751,8 @@ END_VAR
                           </o>
                           <o>
                             <o n="Operand" t="Operand">
-                              <v n="Operand">"bHomeSensor"</v>
-                              <v n="Type">"BOOL"</v>
+                              <v n="Operand">"M1Link.Axis"</v>
+                              <v n="Type">"AXIS_REF"</v>
                               <v n="Comment">""</v>
                               <v n="SymbolComment">""</v>
                               <v n="Address">"%I*"</v>
@@ -852,63 +768,6 @@ END_VAR
                             </o>
                             <v n="Id">59L</v>
                           </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">62L</v>
-                            </o>
-                            <v n="Id">61L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">""</v>
-                              <n n="Type" />
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">64L</v>
-                            </o>
-                            <v n="Id">63L</v>
-                          </o>
-                          <o>
-                            <o n="Operand" t="Operand">
-                              <v n="Operand">"M1Link.axis"</v>
-                              <v n="Type">"AXIS_REF"</v>
-                              <v n="Comment">""</v>
-                              <v n="SymbolComment">""</v>
-                              <v n="Address">""</v>
-                              <o n="Flags" t="Flags">
-                                <v n="Flags">0</v>
-                                <v n="Fixed">false</v>
-                                <v n="Extensible">false</v>
-                              </o>
-                              <v n="LValue">false</v>
-                              <v n="Boolean">false</v>
-                              <v n="IsInstance">false</v>
-                              <v n="Id">66L</v>
-                            </o>
-                            <v n="Id">65L</v>
-                          </o>
                         </l2>
                         <o n="InputParam" t="ParamList">
                           <l2 n="Names" cet="String">
@@ -926,14 +785,11 @@ END_VAR
                             <v>bJogBwd</v>
                             <v>bLimitFwd</v>
                             <v>bLimitBwd</v>
-                            <v>bEnableSoftLimitFwd</v>
-                            <v>bEnableSoftLimitBwd</v>
-                            <v>fSoftLimitFwd</v>
-                            <v>fSoftLimitBwd</v>
                             <v>fOverride</v>
                             <v>bHomeSensor</v>
+                            <v>fHomePosition</v>
+                            <v>nHomeRevOffset</v>
                             <v>MasterAxis</v>
-                            <v>nMotionAxisID</v>
                             <v>Axis</v>
                           </l2>
                           <l2 n="Types" cet="String">
@@ -951,14 +807,11 @@ END_VAR
                             <v>BOOL</v>
                             <v>BOOL</v>
                             <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>BOOL</v>
-                            <v>LREAL</v>
-                            <v>LREAL</v>
                             <v>LREAL</v>
                             <v>BOOL</v>
+                            <v>LREAL</v>
+                            <v>UINT</v>
                             <v>AXIS_REF</v>
-                            <v>UDINT</v>
                             <v>AXIS_REF[REF]</v>
                           </l2>
                         </o>
@@ -971,10 +824,12 @@ END_VAR
                             <v>bError</v>
                             <v>bHomed</v>
                             <v>nErrorId</v>
+                            <v>nMotionAxisID</v>
                             <v>Status</v>
                             <v>fActVelocity</v>
                             <v>fActPosition</v>
                             <v>fActDiff</v>
+                            <v>sErrorMessage</v>
                           </l2>
                           <l2 n="Types" cet="String">
                             <v>BOOL</v>
@@ -984,10 +839,12 @@ END_VAR
                             <v>BOOL</v>
                             <v>BOOL</v>
                             <v>UDINT</v>
+                            <v>UDINT</v>
                             <v>ST_AxisStatus</v>
                             <v>LREAL</v>
                             <v>LREAL</v>
                             <v>LREAL</v>
+                            <v>STRING</v>
                           </l2>
                         </o>
                         <v n="CallType" t="Operator">FunctionBlock</v>
@@ -996,7 +853,7 @@ END_VAR
                         <n n="STSnippet" />
                         <v n="ContainsExtensibleInputs">false</v>
                         <v n="ProvidesSTSnippet">false</v>
-                        <v n="Id">10L</v>
+                        <v n="Id">68L</v>
                       </o>
                     </l2>
                     <l2 n="Connectors" />
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 4a5267b..dfc6cfd 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.0.36">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.6">
   <Task Name="PlcTask" Id="{96ece0eb-a21b-4000-8986-812071c196ce}">
     <!--CycleTime in micro seconds.-->
-    <CycleTime>10000</CycleTime>
+    <CycleTime>1000</CycleTime>
     <Priority>20</Priority>
     <PouCall>
       <Name>MAIN</Name>
@@ -12,6 +12,5 @@
     <Fb_exit>{2478772d-357b-433f-886f-15340bef9bdf}</Fb_exit>
     <CycleUpdate>{c16ee410-277f-45f0-a92e-1ec5f87024b9}</CycleUpdate>
     <PostCycleUpdate>{291eb57a-f9a9-4722-b7d3-fd700e5db288}</PostCycleUpdate>
-    <ObjectProperties />
   </Task>
 </TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 40d37cd..ecc7217 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 40d37cd9eb7e23600d3cc1b0db2361f427cb976c
+Subproject commit ecc7217d00648a9592525f40d75f551b543723eb
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 04dbc43..fcabc7d 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -34,6 +34,9 @@
     <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_ReadParameterInNc_v1_00.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_WriteFloatParameter.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_WriteParameterInNc_v1_00.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -280,6 +283,33 @@
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_DriveVirtual.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeDirect.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeFinish.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomePrepare.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeReadNcVelocities.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeReadSoftLimEnable.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeToSwitch.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeVirtual.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeWriteNcVelocities.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomeWriteSoftLimEnable.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_NcAxis.TcPOU">
       <SubType>Code</SubType>
     </Compile>