diff --git a/solution.sln b/solution.sln
index 9459e68..be04ac6 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)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index a883408..2a8b590 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,8 +1,7 @@
 <?xml version="1.0"?>
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4023.119">
-	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
+	<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="5.54.104.144.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
 		<System>
-			<Settings DontCheckTarget="130.246.50.191.1.1"/>
 			<Licenses>
 				<Target>
 					<ManualSelect>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</ManualSelect>
@@ -29,6 +28,26 @@
 							<Comment><![CDATA[Outputs: Power for Limit switches and Home Sensors (every 4th output)]]></Comment>
 							<Type>BOOL</Type>
 						</Var>
+						<Var>
+							<Name>MAIN.bOutput5</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.bOutput13</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.bOutput17</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.bOutput21</Name>
+							<Type>BOOL</Type>
+						</Var>
+						<Var>
+							<Name>MAIN.bOutput24</Name>
+							<Type>BOOL</Type>
+						</Var>
 					</Vars>
 					<TaskPouOids>
 						<TaskPouOid Prio="20" OTCID="#x08502041"/>
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 21a3034..d1dec51 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -115,6 +115,191 @@
               <v n="TextDefault">"Clear All"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"712"</v>
+              <v n="TextDefault">"eHomeBwdLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"530"</v>
+              <v n="TextDefault">"eHomeBwdToEncRef"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"386"</v>
+              <v n="TextDefault">"eHomeBwdToEncRef2speed"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"341"</v>
+              <v n="TextDefault">"eHomeBwdToEncRef2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"387"</v>
+              <v n="TextDefault">"eHomeBwdToLimit2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"964"</v>
+              <v n="TextDefault">"eHomeBwdToRef"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"35"</v>
+              <v n="TextDefault">"eHomeBwdToRef2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"650"</v>
+              <v n="TextDefault">"eHomeBwdToReference"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"480"</v>
+              <v n="TextDefault">"eHomeBwdToReference2speed"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"339"</v>
+              <v n="TextDefault">"eHomeBwdToReference2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"986"</v>
+              <v n="TextDefault">"ehomeDirect"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"328"</v>
+              <v n="TextDefault">"eHomeFwdToEncRef"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"125"</v>
+              <v n="TextDefault">"eHomeFwdToEncRef2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"484"</v>
+              <v n="TextDefault">"eHomeFwdToEncRef_viaFwdLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"374"</v>
+              <v n="TextDefault">"eHomeFwdToLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"851"</v>
+              <v n="TextDefault">"eHomeFwdToLimit2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"693"</v>
+              <v n="TextDefault">"eHomeBwdToLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"489"</v>
+              <v n="TextDefault">"eHomeBwdToLimit2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"445"</v>
+              <v n="TextDefault">"eHomeBwdToLimitspeeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"637"</v>
+              <v n="TextDefault">"eHomeFwdToLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"351"</v>
+              <v n="TextDefault">"eHomeFwdToLimit2speeds"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"198"</v>
+              <v n="TextDefault">"eHomeToEncPulse_Bwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"510"</v>
+              <v n="TextDefault">"eHomeToEncPulse_Fwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"287"</v>
+              <v n="TextDefault">"eHomeToEncPulse_viaBwdLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"683"</v>
+              <v n="TextDefault">"eHomeToEncPulse_viaFwdLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"535"</v>
+              <v n="TextDefault">"eHomeToEncRefBwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"367"</v>
+              <v n="TextDefault">"eHomeToEncRefFwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"358"</v>
+              <v n="TextDefault">"eHomeToEncRef_viaBwdLimi"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"740"</v>
+              <v n="TextDefault">"eHomeToEncRef_viaBwdLimit"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"689"</v>
+              <v n="TextDefault">"eHomeToLimitBwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"504"</v>
+              <v n="TextDefault">"eHomeToLimitFwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"312"</v>
+              <v n="TextDefault">"eHomeToLimit_Bwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"635"</v>
+              <v n="TextDefault">"eHomeToLimit_Fwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"432"</v>
+              <v n="TextDefault">"eHomeToRefBwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"285"</v>
+              <v n="TextDefault">"eHomeToRefFwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"150"</v>
+              <v n="TextDefault">"eHomeToRef_Bwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"861"</v>
+              <v n="TextDefault">"eHomeToRef_Fwd"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"104"</v>
               <v n="TextDefault">"ENABLE"</v>
@@ -170,6 +355,21 @@
               <v n="TextDefault">"fDeceleration"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"531"</v>
+              <v n="TextDefault">"fHomeFinishDistance"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"613"</v>
+              <v n="TextDefault">"fHomePosition"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"157"</v>
+              <v n="TextDefault">"fHomePositions"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"957"</v>
               <v n="TextDefault">"fPosition"</v>
@@ -205,6 +405,11 @@
               <v n="TextDefault">"gearOut"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"169"</v>
+              <v n="TextDefault">"homeDirect"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"566"</v>
               <v n="TextDefault">"homeSensorNeg"</v>
@@ -270,6 +475,11 @@
               <v n="TextDefault">"reset"</v>
               <l n="LanguageTexts" t="ArrayList" />
             </o>
+            <o>
+              <v n="TextID">"611"</v>
+              <v n="TextDefault">"shomeDirect"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
             <o>
               <v n="TextID">"115"</v>
               <v n="TextDefault">"stop"</v>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index c0a18e8..23f225b 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -131,7 +131,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
         eCheckReadDone:
         //Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
         //If afbReadEncRefSys not started then go back a step.
-        //If any axes result in an error the code will get stuck here, this happens if GVL_APP.nAxisNum is not set correctly
+        //If any axes result in an error the code will get stuck here, this happens if GVL_APP.nAXIS_NUM is not set correctly
             FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
                 IF afbReadEncRefSys[iAxes].Valid = FALSE THEN
                     IF afbReadEncRefSys[iAxes].Busy = TRUE THEN
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
index 14c9f5f..5c7c306 100644
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -10,6 +10,15 @@ END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[]]></ST>
     </Implementation>
+    <Method Name="mDisableAxis" Id="{22a3dd98-69f0-4b92-8109-1b0c2fe2344d}">
+      <Declaration><![CDATA[METHOD mDisableAxis: BOOL
+VAR_INPUT
+    iAxisIndex: UINT; //The idex of the axis to action the method on.
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
       <Declaration><![CDATA[METHOD mEnableAxis: BOOL
 VAR_INPUT
@@ -28,6 +37,25 @@ END_VAR]]></Declaration>
         <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
       </Implementation>
     </Method>
+    <Method Name="mExecute_SetFALSE" Id="{cc074392-b19d-414a-9010-72a4fa4d5f7a}">
+      <Declaration><![CDATA[METHOD mExecute_SetFALSE: BOOL
+VAR_INPUT
+    iAxisIndex: UINT; //The idex of the axis to action the method on.
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="mGearOut" Id="{65c5860b-0759-45a5-a8a4-27fe9453aa76}">
+      <Declaration><![CDATA[METHOD mGearOut : BOOL
+VAR_INPUT
+    iAxis: UINT;  // The idex of the axis to action the method on.
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.astAxes[iAxis].stControl.eCommand := E_MotionFunctions.eGearOut;]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
       <Declaration><![CDATA[METHOD mPrepareDefaultMove
 
@@ -50,6 +78,36 @@ GVL.astAxes[iAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRID
 GVL.astAxes[iAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
       </Implementation>
     </Method>
+    <Method Name="mPrepareGearInMultiMaster" Id="{b94784af-8414-4f79-a0cd-7d3b82710c1e}">
+      <Declaration><![CDATA[METHOD mPrepareGearInMultiMaster
+VAR_INPUT
+    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    astGearAxis: ARRAY[1..4] OF ST_GearAxis;
+END_VAR
+VAR
+    i: UINT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Prepare the axis so it is ready to be coupled
+GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
+FOR i:= 1 TO tcUNIT_GVL.nMAX_MASTERS DO
+    GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
+    GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
+END_FOR]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="mPrepareHome" Id="{29a1cce2-2fc4-48e1-86f6-27b6dd699cd2}">
+      <Declaration><![CDATA[METHOD mPrepareHome
+VAR_INPUT
+    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+    eHomingRoutine: E_HomingRoutines;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
+GVL.astAxes[iAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
       <Declaration><![CDATA[METHOD mPrepareMove
 
@@ -76,6 +134,26 @@ GVL.astAxes[iAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
 GVL.astAxes[iAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
       </Implementation>
     </Method>
+    <Method Name="mReset" Id="{59e8bfe4-ab50-4ad3-9095-95e359837091}">
+      <Declaration><![CDATA[METHOD mReset : BOOL
+VAR_INPUT
+    iAxisIndex: UINT;  // The idex of the axis to action the method on.
+END_VAR
+VAR
+    iCycles: UINT;
+    iMaxCycles: UINT := 100;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
+FOR iCycles:= 1 TO iMaxCycles DO
+    GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
+    IF GVL.astaxes[iAxisIndex].stStatus.bError := FALSE THEN
+        EXIT;
+    END_IF
+END_FOR]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="mSetAxisDefaults" Id="{5b9336be-4414-4858-a614-0fdb2847e171}">
       <Declaration><![CDATA[METHOD mSetAxisDefaults
 
@@ -118,19 +196,44 @@ GVL.astAxes[iAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
     <LineIds Name="FB_tcUNIT_common">
       <LineId Id="9" Count="0" />
     </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mDisableAxis">
+      <LineId Id="5" Count="0" />
+    </LineIds>
     <LineIds Name="FB_tcUNIT_common.mEnableAxis">
       <LineId Id="5" Count="0" />
     </LineIds>
     <LineIds Name="FB_tcUNIT_common.mExecute">
       <LineId Id="5" Count="0" />
     </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mExecute_SetFALSE">
+      <LineId Id="5" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mGearOut">
+      <LineId Id="5" Count="0" />
+    </LineIds>
     <LineIds Name="FB_tcUNIT_common.mPrepareDefaultMove">
       <LineId Id="44" Count="11" />
       <LineId Id="19" Count="0" />
     </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mPrepareGearInMultiMaster">
+      <LineId Id="6" Count="0" />
+      <LineId Id="56" Count="0" />
+      <LineId Id="72" Count="1" />
+      <LineId Id="75" Count="0" />
+      <LineId Id="74" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mPrepareHome">
+      <LineId Id="6" Count="0" />
+      <LineId Id="5" Count="0" />
+    </LineIds>
     <LineIds Name="FB_tcUNIT_common.mPrepareMove">
       <LineId Id="17" Count="11" />
     </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mReset">
+      <LineId Id="21" Count="0" />
+      <LineId Id="7" Count="0" />
+      <LineId Id="16" Count="4" />
+    </LineIds>
     <LineIds Name="FB_tcUNIT_common.mSetAxisDefaults">
       <LineId Id="50" Count="28" />
       <LineId Id="26" Count="0" />
diff --git a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
index e80baa0..b88fff9 100644
--- a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
+++ b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
@@ -14,6 +14,7 @@ fDEFAULT_TARGET_ACCELERATION: LREAL := 0.5;
 fDEFAULT_TARGET_DECCELERATION: LREAL := 0.5;
 fDEFAULT_TARGET_POSITION: LREAL := 10.0;
 fDEFAULT_TARGET_OVERRIDE: LREAL := 100;
+nMAX_MASTERS : UINT := 4;
 END_VAR
 
 VAR_GLOBAL
diff --git a/solution/tc_project_app/Test/standard_library_tests/E_TestStates.TcDUT b/solution/tc_project_app/Test/standard_library_tests/E_TestStates.TcDUT
new file mode 100644
index 0000000..a280ecb
--- /dev/null
+++ b/solution/tc_project_app/Test/standard_library_tests/E_TestStates.TcDUT
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
+  <DUT Name="E_TestStates" Id="{fa5c3f3c-c558-44f1-8e4d-ea57c6a7bb8e}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+TYPE E_TestStates :
+(
+    eInitialiseTest := 0,
+    ePreparePreTestConditions := 1,
+    eExecutePreTestConditions := 2,
+    ePrepareTest := 3,
+    eExecuteTest := 4,
+    eWaitForResults := 5,
+    ePrepareFinishTest := 6,
+    eExecuteFinishTest := 7,
+    eReportFinishedTest := 8
+);
+END_TYPE
+
+]]></Declaration>
+  </DUT>
+</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 08a5fd1..50f3bf8 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 08a5fd1399ee7f333765229a2737919377ea0e6e
+Subproject commit 50f3bf804385ffb3afd987829f28e0e698804054
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 23aa3e4..3f40c4c 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -90,7 +90,7 @@
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadNcVelocities.TcPOU">
+    <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_ReadNcVelocities.TcPOU">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
@@ -112,9 +112,15 @@
     <Compile Include="Test\common\FB_tcUNIT_common.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="Test\common\FB_tcUNIT_GenericHomingTest.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="Test\common\tcUNIT_GVL.TcGVL">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="Test\standard_library_tests\E_TestStates.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="Test\standard_library_tests\FB_Axis_TEST.TcPOU">
       <SubType>Code</SubType>
     </Compile>