Merged in mbp-99/execute-reset-triggers-and-status-links (pull request #7)

Mbp 99/execute reset triggers and status links
2019-08-01 11:58:01 +00:00
parent e47e4aeef0 08c6c6acaf
commit f0df405a7a
12 changed files with 578 additions and 10961 deletions
@@ -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)
-		{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)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
-		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
-		{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)
@@ -65,6 +49,22 @@ Global
 		{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)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+		{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+		{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)
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -1,2 +1,2 @@
 <?xml version="1.0" encoding="utf-8"?>
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@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4022.22">
+<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4022.28">
 	<DataTypes>
 		<DataType>
 			<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
@@ -895,25 +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>
-			</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">
@@ -1003,6 +984,160 @@ External Setpoint Generation:
 1: axis is a master axis
 2: axis is master and slave
 3: axis is a slave axis
+]]>
+								</Comment>
+							</SubVar>
+						</Var>
+						<Var>
+							<Name>GVL.axes[2].inputs.bLimitFwd</Name>
+							<Comment>
+								<![CDATA[////Axis Inputs///////]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[2].inputs.bLimitBwd</Name>
+							<Comment>
+								<![CDATA[Backward limit switch]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[2].inputs.bHomeSensor</Name>
+							<Comment>
+								<![CDATA[Reference siganl for homing]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[2].inputs.bEncLAtch</Name>
+							<Comment>
+								<![CDATA[Reference index signal from inc. enconder]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[2].Axis.NcToPlc</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>
+						<Var>
+							<Name>GVL.axes[3].inputs.bLimitFwd</Name>
+							<Comment>
+								<![CDATA[////Axis Inputs///////]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[3].inputs.bLimitBwd</Name>
+							<Comment>
+								<![CDATA[Backward limit switch]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[3].inputs.bHomeSensor</Name>
+							<Comment>
+								<![CDATA[Reference siganl for homing]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[3].inputs.bEncLAtch</Name>
+							<Comment>
+								<![CDATA[Reference index signal from inc. enconder]]>
+							</Comment>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[3].Axis.NcToPlc</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>
@@ -1021,6 +1156,14 @@ External Setpoint Generation:
 							<Name>GVL.axes[1].Axis.PlcToNc</Name>
 							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 						</Var>
+						<Var>
+							<Name>GVL.axes[2].Axis.PlcToNc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[3].Axis.PlcToNc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+						</Var>
 					</Vars>
 					<TaskPouOids>
 						<TaskPouOid Prio="20" OTCID="#x08502041"/>
@@ -1028,5 +1171,9 @@ External Setpoint Generation:
 				</Instance>
 			</Project>
 		</Plc>
+		<Io/>
 	</Project>
+	<Mappings>
+		<MappingInfo Identifier="{05000010-2041-0850-3000-040340205008}" Id="#x02030010" Watchdog="04000000080000000400000004000000"/>
+	</Mappings>
 </TcSmProject>
@@ -0,0 +1,279 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.17">
+  <GlobalTextList Name="GlobalTextList" Id="{c3494959-baa5-4f73-b0cd-9c11912145dd}">
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+              <v n="TextID">"710"</v>
+              <v n="TextDefault">"Active:"</v>
+              <l n="LanguageTexts" t="ArrayList" />
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+            <o>
+              <v n="TextID">"952"</v>
+              <v n="TextDefault">"actPos"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"953"</v>
+              <v n="TextDefault">"actVel"</v>
+              <l n="LanguageTexts" t="ArrayList" />
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+              <v n="TextDefault">"AXESMAX"</v>
+              <l n="LanguageTexts" t="ArrayList" />
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+              <l n="LanguageTexts" t="ArrayList" />
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+              <l n="LanguageTexts" t="ArrayList" />
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+            </o>
+            <o>
+              <v n="TextID">"943"</v>
+              <v n="TextDefault">"bEnabled"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"941"</v>
+              <v n="TextDefault">"bError"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"102"</v>
+              <v n="TextDefault">"bExecute"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"949"</v>
+              <v n="TextDefault">"bFwEnabled"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"297"</v>
+              <v n="TextDefault">"bGeared"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"948"</v>
+              <v n="TextDefault">"bHomed"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"947"</v>
+              <v n="TextDefault">"bResetDone"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"944"</v>
+              <v n="TextDefault">"bWarning"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"704"</v>
+              <v n="TextDefault">"Clear All"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"104"</v>
+              <v n="TextDefault">"ENABLE"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"106"</v>
+              <v n="TextDefault">"ENABLE BW"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"105"</v>
+              <v n="TextDefault">"ENABLE FW"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"109"</v>
+              <v n="TextDefault">"English"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"939"</v>
+              <v n="TextDefault">"errID"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"701"</v>
+              <v n="TextDefault">"Error #"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"705"</v>
+              <v n="TextDefault">"Error #:"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"702"</v>
+              <v n="TextDefault">"Error Log"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"707"</v>
+              <v n="TextDefault">"Errors:"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"955"</v>
+              <v n="TextDefault">"fAcceleration"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"956"</v>
+              <v n="TextDefault">"fDeceleration"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"957"</v>
+              <v n="TextDefault">"fPosition"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"708"</v>
+              <v n="TextDefault">"Free Entries:"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"954"</v>
+              <v n="TextDefault">"fVelocity"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"299"</v>
+              <v n="TextDefault">"gearIn"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"300"</v>
+              <v n="TextDefault">"gearOut"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"711"</v>
+              <v n="TextDefault">"Inactive:"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"116"</v>
+              <v n="TextDefault">"jogBw"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"117"</v>
+              <v n="TextDefault">"jogFw"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"298"</v>
+              <v n="TextDefault">"masterGear"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"111"</v>
+              <v n="TextDefault">"moveAbsolute"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"114"</v>
+              <v n="TextDefault">"moveModulo"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"113"</v>
+              <v n="TextDefault">"moveRelative"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"112"</v>
+              <v n="TextDefault">"moveVelocity"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"709"</v>
+              <v n="TextDefault">"Overflows:"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"942"</v>
+              <v n="TextDefault">"reset"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"115"</v>
+              <v n="TextDefault">"stop"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"108"</v>
+              <v n="TextDefault">"Test Language"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"103"</v>
+              <v n="TextDefault">"toggle"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+          </l>
+          <l n="Languages" t="ArrayList" />
+          <v n="GuidInit">{062c6d5a-aca0-4f82-8481-8e26e8c8681e}</v>
+          <v n="GuidReInit">{d08328f1-0dac-4dfb-b105-bd18d7b5a756}</v>
+          <v n="GuidExitX">{180f93fa-c96b-483e-953c-133bc7d30e18}</v>
+        </o>
+      </Data>
+      <TypeList>
+        <Type n="ArrayList">System.Collections.ArrayList</Type>
+        <Type n="GlobalTextListObject">{63784cbb-9ba0-45e6-9d69-babf3f040511}</Type>
+        <Type n="Guid">System.Guid</Type>
+        <Type n="String">System.String</Type>
+        <Type n="TextListRow">{53da1be7-ad25-47c3-b0e8-e26286dad2e0}</Type>
+      </TypeList>
+    </XmlArchive>
+  </GlobalTextList>
+</TcPlcObject>
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.12">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.17">
  <POU Name="MAIN" Id="{33eb6f49-7781-4211-a70b-87ada6d80cb7}" SpecialFunc="None">
    <Declaration><![CDATA[PROGRAM MAIN
 VAR
@@ -26,11 +26,19 @@ VAR
 	//bOutput28 AT %Q*: BOOL:= TRUE; 
 	
 (******Error Handling********)
-	fbErrorList: FB_ErrorList;
-	//fbEL3214: EL3214;
-	//fbEL1808: EL1808;
-	//fbEL2819: EL2819;
-	//fbEL9410: EL9410;
+	fbErrorSystem: FB_ErrorSystem;
+	aFbAxesError: ARRAY [1..gvl.axisNum] OF FB_NC_Error;
+	
+	//fbEL1018	: EL1018;
+	//fbEL2808	: EL2808;
+	//fbEL5101	: EL5101;
+	//fbEL9505	: EL9505;
+	//fbEL1252	: EL1252;
+	//fbEL9410	: EL9410;
+	//fbEL7037	: EL7037;
+	//fbEK1110	: EK1110;
+	
+	
 	
 END_VAR

@@ -43,8 +51,8 @@ ERROR();]]></ST>
    <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
      <Implementation>
        <ST><![CDATA[
-FOR i:=1 TO gvl.axisNum DO
-	aFBAxes[i](stAxisStruct:=gvl.axes[i]);
+FOR GVL.iAxis:=1 TO gvl.axisNum DO
+	aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
 END_FOR


@@ -56,34 +64,38 @@ END_FOR
        <ST><![CDATA[//
 (****FB containting the log of the errors****)
 //
-fbErrorList(
+fbErrorSystem(
 	En:= TRUE, 
 	bReset:= , 
-	lErrorID:= , 
+	nErrorNum:= , 
 	bACK:= , 
+	bValidSelection:= , 
+	nTableRowIndex:= , 
 	EnO=> , 
-	nNoError=> , 
-	nNoOverflow=> , 
+	nSelectedError=> , 
 	pErrorSystem=> );
+
+
+FOR GVL.iAxis:=1 TO gvl.axisNum DO
+	aFbAxesError[gvl.iAxis](EN:=TRUE, 
+	nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID, 
+	nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId, 
+	ErrorSystem:= fbErrorSystem.pErrorSystem);
+END_FOR
+	
+
 	
 (*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
 add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and 
-the variable "fbErrorList.pErrorSystem" to the input ErrorSystem in each FB E. g. : 
+the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. : 
 fbEL1808(
 	En:= TRUE, 
-	iTerminal_ID:= 1, 
-	ErrorSystem:= fbErrorList.pErrorSystem, 
+	iTerminal_ID:= 01, 
+	ErrorSystem:= fbErorSystem.pErrorSystem, 
 	EnO=> , 
-	bDi_1=> , 
-	bDi_2=> , 
-	bDi_3=> , 
-	bDi_4=> , 
-	bDi_5=> , 
-	bDi_6=> , 
-	bDi_7=> , 
-	bDi_8=> , 
-	bError=> );      *)
-//
+	bError=> );    
+ *)
+
 ]]></ST>
      </Implementation>
    </Action>
@@ -110,13 +122,18 @@ fbEL1808(
    <LineIds Name="MAIN.ERROR">
      <LineId Id="31" Count="0" />
      <LineId Id="10" Count="1" />
-      <LineId Id="2" Count="7" />
+      <LineId Id="34" Count="8" />
      <LineId Id="1" Count="0" />
-      <LineId Id="12" Count="1" />
-      <LineId Id="29" Count="1" />
-      <LineId Id="16" Count="12" />
+      <LineId Id="90" Count="1" />
+      <LineId Id="88" Count="1" />
+      <LineId Id="92" Count="2" />
+      <LineId Id="87" Count="0" />
+      <LineId Id="79" Count="1" />
+      <LineId Id="12" Count="0" />
+      <LineId Id="44" Count="8" />
+      <LineId Id="62" Count="0" />
      <LineId Id="14" Count="0" />
-      <LineId Id="32" Count="1" />
+      <LineId Id="33" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.PROG">
      <LineId Id="2" Count="0" />
@@ -1,258 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.12">
-  <TextList Name="languageSupport" Id="{5d3fdc2f-5bea-44d3-8108-bdef8127e821}">
-    <XmlArchive>
-      <Data>
-        <o xml:space="preserve" t="TextListObject">
-          <v n="UniqueIdGenerator">"0"</v>
-          <l n="TextList" t="ArrayList" cet="TextListRow">
-            <o>
-              <v n="TextID">"axesAvailable"</v>
-              <v n="TextDefault">"PLC Axes available: %d"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v>Alt language</v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"velocity"</v>
-              <v n="TextDefault">"Velocity:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"actposition"</v>
-              <v n="TextDefault">"Actual Position:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"enable"</v>
-              <v n="TextDefault">"Enable Axis"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"enFW"</v>
-              <v n="TextDefault">"Enable Forward"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"enBW"</v>
-              <v n="TextDefault">"Enable Backward"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"axisSel"</v>
-              <v n="TextDefault">"Axis Selected:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"actVelocity"</v>
-              <v n="TextDefault">"Actual Velocity:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"errID"</v>
-              <v n="TextDefault">"Error ID:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bEnabled"</v>
-              <v n="TextDefault">"Axis Enabled"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bWarning"</v>
-              <v n="TextDefault">"Warning"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bBusy"</v>
-              <v n="TextDefault">"Busy"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bDone"</v>
-              <v n="TextDefault">"Command Done"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bResetDone"</v>
-              <v n="TextDefault">"Reset Complete"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bHomed"</v>
-              <v n="TextDefault">"Calibrated"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bFwEnabled"</v>
-              <v n="TextDefault">"Fwd movement enabled"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bBwEnabled"</v>
-              <v n="TextDefault">"Bwd movement enabled"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bError"</v>
-              <v n="TextDefault">"Error"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"fVelocity"</v>
-              <v n="TextDefault">"Target Velocity:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v>Geschwindigkeit:</v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"fAcceleration"</v>
-              <v n="TextDefault">"Target Accel.:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"fDeceleration"</v>
-              <v n="TextDefault">"Target Decel.:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"fPosition"</v>
-              <v n="TextDefault">"Target Position:"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"moveAbsolute"</v>
-              <v n="TextDefault">"Absolute position move"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"toggle"</v>
-              <v n="TextDefault">"Toggle"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"moveVelocity"</v>
-              <v n="TextDefault">"Constant velocity move"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"bExecute"</v>
-              <v n="TextDefault">"Motion function executed"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"moveRelative"</v>
-              <v n="TextDefault">"Relative position move"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"moveModulo"</v>
-              <v n="TextDefault">"Modulo position move"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"reset"</v>
-              <v n="TextDefault">"Reset axis"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"stop"</v>
-              <v n="TextDefault">"Stop motion"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"jogBw"</v>
-              <v n="TextDefault">"Jog Backward"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">"jogFw"</v>
-              <v n="TextDefault">"Jog Forward"</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-            <o>
-              <v n="TextID">""</v>
-              <v n="TextDefault">""</v>
-              <l n="LanguageTexts" t="ArrayList" cet="String">
-                <v></v>
-              </l>
-            </o>
-          </l>
-          <l n="Languages" t="ArrayList" cet="String">
-            <v>Test</v>
-          </l>
-          <v n="GuidInit">{962e4813-aef8-4dae-aeb7-04077d21434b}</v>
-          <v n="GuidReInit">{82ace71d-e165-4acf-b153-7a4cf4328067}</v>
-          <v n="GuidExitX">{a31774a9-92e9-4b2c-85d2-e107f62daa07}</v>
-        </o>
-      </Data>
-      <TypeList>
-        <Type n="ArrayList">System.Collections.ArrayList</Type>
-        <Type n="Guid">System.Guid</Type>
-        <Type n="String">System.String</Type>
-        <Type n="TextListObject">{2bef0454-1bd3-412a-ac2c-af0f31dbc40f}</Type>
-        <Type n="TextListRow">{53da1be7-ad25-47c3-b0e8-e26286dad2e0}</Type>
-      </TypeList>
-    </XmlArchive>
-  </TextList>
-</TcPlcObject>
@@ -1,49 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.12">
-  <TextList Name="visuTextLinks" Id="{f7469b03-da64-4a47-8ac8-39435c36424f}">
-    <XmlArchive>
-      <Data>
-        <o xml:space="preserve" t="TextListObject">
-          <v n="UniqueIdGenerator">"0"</v>
-          <l n="TextList" t="ArrayList" cet="TextListRow">
-            <o>
-              <v n="TextID">"A"</v>
-              <v n="TextDefault">"GVL.axes[1].Axis.NcToPlc.ActPos"</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-            <o>
-              <v n="TextID">""</v>
-              <v n="TextDefault">""</v>
-              <l n="LanguageTexts" t="ArrayList" />
-            </o>
-          </l>
-          <l n="Languages" t="ArrayList" />
-          <v n="GuidInit">{6fd55742-e384-4894-9216-e2d2bdaf06e5}</v>
-          <v n="GuidReInit">{b421fed2-6e50-4872-a5b9-e519ab233931}</v>
-          <v n="GuidExitX">{7c170316-0583-48d7-8f84-803498aab81a}</v>
-        </o>
-      </Data>
-      <TypeList>
-        <Type n="ArrayList">System.Collections.ArrayList</Type>
-        <Type n="Guid">System.Guid</Type>
-        <Type n="String">System.String</Type>
-        <Type n="TextListObject">{2bef0454-1bd3-412a-ac2c-af0f31dbc40f}</Type>
-        <Type n="TextListRow">{53da1be7-ad25-47c3-b0e8-e26286dad2e0}</Type>
-      </TypeList>
-    </XmlArchive>
-    <ObjectProperties>
-      <XmlArchive>
-        <Data>
-          <o xml:space="preserve" t="TextListPropertiesObject">
-            <v n="DownloadForVisu">false</v>
-            <v n="Internal">false</v>
-          </o>
-        </Data>
-        <TypeList>
-          <Type n="Boolean">System.Boolean</Type>
-          <Type n="TextListPropertiesObject">{9db18249-9fcf-4264-a9de-410a659a36b3}</Type>
-        </TypeList>
-      </XmlArchive>
-    </ObjectProperties>
-  </TextList>
-</TcPlcObject>
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.12">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.17">
  <VisuManager Name="Visualization Manager" Id="{9ab27b0a-e061-4269-b032-b221661a7379}">
    <XmlArchive>
      <Data>
@@ -44,10 +44,10 @@
            <d n="FbMethods" t="CaseInsensitiveHashtable" ckt="String" cvt="Guid">
              <v>FB_Init</v>
              <v>c98701bd-1e9f-450a-a2a8-a2474d536f2e</v>
-              <v>FB_Exit</v>
-              <v>0be1b9ab-e8eb-4b33-b803-109abb46bde4</v>
              <v>FB_Reinit</v>
              <v>5b6e372a-a69d-40e8-aef7-f470b7c53d95</v>
+              <v>FB_Exit</v>
+              <v>0be1b9ab-e8eb-4b33-b803-109abb46bde4</v>
            </d>
            <v n="FbName">"NotImportant"</v>
            <v n="FbGuid">{aa8b7e42-e967-427f-8f2e-f00f9d706470}</v>
@@ -6,7 +6,7 @@
    <ProjectGuid>{fb261665-fd20-4bf2-97f8-2854c82b752d}</ProjectGuid>
    <SubObjectsSortedByName>True</SubObjectsSortedByName>
    <Name>tc_project_app</Name>
-    <ProgramVersion>3.1.4022.2</ProgramVersion>
+    <ProgramVersion>3.1.4022.6</ProgramVersion>
    <Application>{047dee04-c246-47b2-8ccc-a15e36987c43}</Application>
    <TypeSystem>{ae4eb5ee-6030-47a6-bf35-5a6afd9efeeb}</TypeSystem>
    <Implicit_Task_Info>{5ef19bd0-aca2-493f-b2a1-89e363647697}</Implicit_Task_Info>
@@ -16,6 +16,9 @@
    <AutoUpdateVisuProfile>true</AutoUpdateVisuProfile>
  </PropertyGroup>
  <ItemGroup>
+    <Compile Include="GlobalTextList.TcGTLO">
+      <SubType>Code</SubType>
+    </Compile>
    <Compile Include="PlcTask.TcTTO">
      <SubType>Code</SubType>
    </Compile>
@@ -34,9 +37,13 @@
    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisInputs.TcDUT">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\ST_GearAxis.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisStatus.TcDUT">
      <SubType>Code</SubType>
-    </Compile>    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisStruct.TcDUT">
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisStruct.TcDUT">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="tc_mca_std_lib\GVLs\GVL.TcGVL">
@@ -57,16 +64,19 @@
    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\DUT_ErrorState.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\DUT_TerminalError.TcDUT">
+    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_ErrorSystem.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_ErrorList.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_GenericError.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_NC_Error.TcPOU">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_TerminalError.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\GVL_ErrorSystem.TcGVL">
+    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\ST_ErrorEntry.TcDUT">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\ST_ErrorSystem.TcDUT">
@@ -81,15 +91,15 @@
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3255.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\FB_CalculateFrequency_3702_v0_01.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1008.TcPOU">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1018.TcPOU">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1252.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1808.TcPOU">
      <SubType>Code</SubType>
    </Compile>
@@ -99,9 +109,6 @@
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1819.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\FB_EL1252ASM_v1_00.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2014.TcPOU">
      <SubType>Code</SubType>
    </Compile>
@@ -120,22 +127,43 @@
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types\dutEL2521_Status.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Measuring_Terminals\EL5002.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL2522.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Measuring_Terminals\EL5021.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL4134.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Measuring_Terminals\EL5042.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7037.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Measuring_Terminals\EL5101.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7041_0052.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Motion\EL7211_v1_00.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7047.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Motion\EL9576_v1_00.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7211.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5002.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5021.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5042.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5101.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL7201.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EK1100.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EK1110.TcPOU">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EL9410.TcPOU">
@@ -144,9 +172,6 @@
    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EL9505.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\Other\EK1200.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
      <SubType>Code</SubType>
    </Compile>
@@ -180,16 +205,23 @@
    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="Visualization Manager.TcVMO">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="VISUs\languageSupport.TcTLO">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="VISUs\MainVisu.TcVIS">
+    <Compile Include="tc_mca_std_lib\POUs\VISUs\Error_Log_Visu.TcVIS">
      <SubType>Code</SubType>
      <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\VISUs\languageSupport.TcTLO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\VISUs\MainVisu.TcVIS">
+      <SubType>Code</SubType>
+      <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\VISUs\visuTextLinks.TcTLO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Visualization Manager.TcVMO">
+      <SubType>Code</SubType>
+    </Compile>
  </ItemGroup>
  <ItemGroup>
    <Folder Include="DUTs" />
@@ -206,14 +238,14 @@
    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs" />
    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs" />
    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Measuring_Terminals" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Motion" />
+    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives" />
+    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals" />
    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\Other" />
    <Folder Include="tc_mca_std_lib\POUs\Motion" />
    <Folder Include="tc_mca_std_lib\POUs\Hardware" />
    <Folder Include="tc_mca_std_lib\POUs\ErrorHandling" />
    <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
+    <Folder Include="tc_mca_std_lib\POUs\VISUs" />
    <Folder Include="VISUs" />
    <Folder Include="POUs" />
  </ItemGroup>