diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index e125049..c284299 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -8,7 +8,6 @@ END_VAR
 
 VAR_GLOBAL CONSTANT
     axisNum :   UINT:=0;
-    //axisCoupleMax :   UINT:=4;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 2621b5e..3ff0212 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -26,19 +26,6 @@ VAR
     //bOutput24 AT %Q*: BOOL:= TRUE;
     //bOutput28 AT %Q*: BOOL:= TRUE;
 
-(******Error Handling********)
-    fbErrorSystem: FB_ErrorSystem;
-    aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;
-
-    //fbEL1018  : EL1018;
-    //fbEL2808  : EL2808;
-    //fbEL5101  : EL5101;
-    //fbEL9505  : EL9505;
-    //fbEL1252  : EL1252;
-    //fbEL9410  : EL9410;
-    //fbEL7037  : EL7037;
-    //fbEK1110  : EK1110;
-
 (******Startup, Shutdown and UPS********)
     fbUPS                  : FB_S_UPS_CX51x0;
     eUpsMode               : E_S_UPS_Mode   := eSUPS_WrPersistData_Shutdown;
@@ -59,8 +46,7 @@ END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[POSITION_RECOVERY();
 PROG();
-AXES();
-ERROR();]]></ST>
+AXES();]]></ST>
     </Implementation>
     <Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
@@ -87,46 +73,6 @@ ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
 END_IF]]></ST>
       </Implementation>
     </Action>
-    <Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
-      <Implementation>
-        <ST><![CDATA[//
-(****FB containting the log of the errors****)
-//
-fbErrorSystem(
-    En:= TRUE,
-    bReset:= ,
-    nErrorNum:= ,
-    bACK:= ,
-    bValidSelection:= ,
-    nTableRowIndex:= ,
-    EnO=> ,
-    nSelectedError=> ,
-    pErrorSystem=> );
-
-
-FOR GVL.iAxis:=1 TO gvl_app.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 "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
-fbEL1808(
-    En:= TRUE,
-    iTerminal_ID:= 01,
-    ErrorSystem:= fbErorSystem.pErrorSystem,
-    EnO=> ,
-    bError=> );
- *)
-
-]]></ST>
-      </Implementation>
-    </Action>
     <Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
         <ST><![CDATA[fbGetDeviceIdentification(bExecute:=TRUE);
@@ -276,7 +222,7 @@ END_FOR]]></ST>
     <LineIds Name="MAIN">
       <LineId Id="505" Count="0" />
       <LineId Id="134" Count="0" />
-      <LineId Id="81" Count="1" />
+      <LineId Id="81" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.AXES">
       <LineId Id="1" Count="0" />
@@ -287,22 +233,6 @@ END_FOR]]></ST>
       <LineId Id="2" Count="11" />
       <LineId Id="1" Count="0" />
     </LineIds>
-    <LineIds Name="MAIN.ERROR">
-      <LineId Id="31" Count="0" />
-      <LineId Id="10" Count="1" />
-      <LineId Id="34" Count="8" />
-      <LineId Id="1" Count="0" />
-      <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="33" Count="0" />
-    </LineIds>
     <LineIds Name="MAIN.POSITION_RECOVERY">
       <LineId Id="2" Count="3" />
       <LineId Id="1" Count="0" />
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 852ea37..85f11c0 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492
+Subproject commit 85f11c08bc807bda1e02aa5c635a789d355da20c
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index ff1f68e..ef75202 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -71,117 +71,6 @@
     <Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_WriteParameterInNc_v1_00.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\DUT_ErrorState.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_ErrorSystem.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <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\ST_ErrorEntry.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\ErrorHandling\ST_ErrorSystem.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3174_0002.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3214.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <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\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>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1809.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <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_Outputs\EL2014.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2252.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2808.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2819.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types\dutEL2521_Ctrl.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <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\Drives\EL2522.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <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\Drives\EL7037.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <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\Drives\EL7047.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <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">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EL9505.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -252,18 +141,8 @@
     <Folder Include="tc_mca_std_lib\POUs" />
     <Folder Include="tc_mca_std_lib\POUs\ChangeConfig" />
     <Folder Include="tc_mca_std_lib\POUs\Hardware" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals" />
-    <Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs" />
-    <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\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\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="Test\app_tests" />