From 5120ed4c3408fe411a30f650c93a3f5abb5dc7bf Mon Sep 17 00:00:00 2001
From: tongju12 <tongju@slac.stanford.edu>
Date: Thu, 21 Mar 2024 15:18:13 -0700
Subject: [PATCH] setup EPS for LI2K4

---
 .../_Config/NC/Axes/Axis 45 LI2K4-MMS-Y.xti   |    6 +-
 .../_Config/NC/Axes/Axis 46 LI2K4-MMS-X.xti   |    6 +-
 plc-tmo-motion/_Config/PLC/tmo_motion.xti     |   72 +-
 plc-tmo-motion/tmo_motion/GVLs/Main.TcGVL     |   12 +-
 .../tmo_motion/POUs/PRG_1_PlcTask.TcPOU       |    2 +-
 ...RG_CF1K4_CAL.TcPOU => PRG_CF1K4_IP1.TcPOU} |    4 +-
 .../tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU       |   29 +-
 plc-tmo-motion/tmo_motion/tmo_motion.plcproj  |    2 +-
 plc-tmo-motion/tmo_motion/tmo_motion.tmc      | 1683 +++++++++--------
 9 files changed, 955 insertions(+), 861 deletions(-)
 rename plc-tmo-motion/tmo_motion/POUs/{PRG_CF1K4_CAL.TcPOU => PRG_CF1K4_IP1.TcPOU} (96%)

diff --git a/plc-tmo-motion/_Config/NC/Axes/Axis 45 LI2K4-MMS-Y.xti b/plc-tmo-motion/_Config/NC/Axes/Axis 45 LI2K4-MMS-Y.xti
index 91b04b8..2aeb1f5 100644
--- a/plc-tmo-motion/_Config/NC/Axes/Axis 45 LI2K4-MMS-Y.xti	
+++ b/plc-tmo-motion/_Config/NC/Axes/Axis 45 LI2K4-MMS-Y.xti	
@@ -1325,15 +1325,14 @@ External Setpoint Generation:
 		<Name>__FILENAME__</Name>
 		<AxisPara>
 			<Dynamic Acceleration="2" Deceleration="2"/>
-			<Velo Maximum="27"/>
+			<Velo RefSearch="0.1" RefSync="0.1" SlowManual="0.1" FastManual="0.1" Maximum="27"/>
 			<PositionAreaControl Range="0.05"/>
 			<TargetPosControl Range="0.1"/>
-			<OtherSettings AllowMotionCmdToSlave="true"/>
+			<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="0.1" PulseDistanceNeg="0.1"/>
 		</AxisPara>
 		<Encoder Name="Enc" EncType="29">
 			<EncPara ScaleFactorNumerator="5e-05" Offset="-214569.724" MaxCount="#xffffffff">
 				<Inc RefSoftSyncMask="#x0000ffff"/>
-				<ParameterChanged>21</ParameterChanged>
 			</EncPara>
 			<Vars VarGrpType="1">
 				<Name>Inputs</Name>
@@ -1378,7 +1377,6 @@ External Setpoint Generation:
 			<DrvPara>
 				<Analog VeloReferenz="25.4" ScaleFactorActTorque="0.1"/>
 				<TimeComp TaskDelayCycles="1"/>
-				<ParameterChanged>6</ParameterChanged>
 			</DrvPara>
 			<Vars VarGrpType="1">
 				<Name>Inputs</Name>
diff --git a/plc-tmo-motion/_Config/NC/Axes/Axis 46 LI2K4-MMS-X.xti b/plc-tmo-motion/_Config/NC/Axes/Axis 46 LI2K4-MMS-X.xti
index cb3f300..a1509c5 100644
--- a/plc-tmo-motion/_Config/NC/Axes/Axis 46 LI2K4-MMS-X.xti	
+++ b/plc-tmo-motion/_Config/NC/Axes/Axis 46 LI2K4-MMS-X.xti	
@@ -1324,12 +1324,14 @@ External Setpoint Generation:
 	<Axis Id="46" CreateSymbols="true" AxisType="1" AxisFolder="LI2K4">
 		<Name>__FILENAME__</Name>
 		<AxisPara>
-			<Velo Maximum="7"/>
+			<Velo RefSearch="0.1" RefSync="0.1" SlowManual="0.1" FastManual="0.1" Maximum="7"/>
 			<PositionAreaControl Range="0.1"/>
-			<OtherSettings AllowMotionCmdToSlave="true"/>
+			<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="0.1" PulseDistanceNeg="0.1"/>
 		</AxisPara>
 		<Encoder Name="Enc" EncType="29">
 			<EncPara ScaleFactorNumerator="5e-05" Offset="-214728.674" MaxCount="#xffffffff">
+				<SoftEndMinControl Enable="true" Range="-4"/>
+				<SoftEndMaxControl Enable="true" Range="1.5"/>
 				<Inc RefSoftSyncMask="#x0000ffff"/>
 			</EncPara>
 			<Vars VarGrpType="1">
diff --git a/plc-tmo-motion/_Config/PLC/tmo_motion.xti b/plc-tmo-motion/_Config/PLC/tmo_motion.xti
index 23955e5..0a5d275 100644
--- a/plc-tmo-motion/_Config/PLC/tmo_motion.xti
+++ b/plc-tmo-motion/_Config/PLC/tmo_motion.xti
@@ -7104,7 +7104,7 @@ External Setpoint Generation:
 					<Type>INT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbMotionCF1K4.fbDriveVirtual.MasterAxis.NcToPlc</Name>
+					<Name>PRG_CF1K4_IP1.fbMotionCF1K4.fbDriveVirtual.MasterAxis.NcToPlc</Name>
 					<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
 					<SubVar>
 						<Name>AxisState</Name>
@@ -7153,7 +7153,7 @@ External Setpoint Generation:
 					</SubVar>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].Axis.NcToPlc</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].Axis.NcToPlc</Name>
 					<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
 					<SubVar>
 						<Name>AxisState</Name>
@@ -7202,56 +7202,56 @@ External Setpoint Generation:
 					</SubVar>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bLimitForwardEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bLimitForwardEnable</Name>
 					<Comment>
 						<![CDATA[ NC Forward Limit Switch: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bLimitBackwardEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bLimitBackwardEnable</Name>
 					<Comment>
 						<![CDATA[ NC Backward Limit Switch: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bHome</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bHome</Name>
 					<Comment>
 						<![CDATA[ NO Home Switch: TRUE if at home]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bHardwareEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bHardwareEnable</Name>
 					<Comment>
 						<![CDATA[ NC STO Input: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].nRawEncoderULINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].nRawEncoderULINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for ULINT (Biss-C)]]>
 					</Comment>
 					<Type>ULINT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].nRawEncoderUINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].nRawEncoderUINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for UINT (Relative Encoders)]]>
 					</Comment>
 					<Type>UINT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].nRawEncoderINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].nRawEncoderINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for INT (LVDT)]]>
 					</Comment>
 					<Type>INT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].Axis.NcToPlc</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].Axis.NcToPlc</Name>
 					<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
 					<SubVar>
 						<Name>AxisState</Name>
@@ -7300,56 +7300,56 @@ External Setpoint Generation:
 					</SubVar>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bLimitForwardEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bLimitForwardEnable</Name>
 					<Comment>
 						<![CDATA[ NC Forward Limit Switch: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bLimitBackwardEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bLimitBackwardEnable</Name>
 					<Comment>
 						<![CDATA[ NC Backward Limit Switch: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bHome</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bHome</Name>
 					<Comment>
 						<![CDATA[ NO Home Switch: TRUE if at home]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bHardwareEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bHardwareEnable</Name>
 					<Comment>
 						<![CDATA[ NC STO Input: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].nRawEncoderULINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].nRawEncoderULINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for ULINT (Biss-C)]]>
 					</Comment>
 					<Type>ULINT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].nRawEncoderUINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].nRawEncoderUINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for UINT (Relative Encoders)]]>
 					</Comment>
 					<Type>UINT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].nRawEncoderINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].nRawEncoderINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for INT (LVDT)]]>
 					</Comment>
 					<Type>INT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].Axis.NcToPlc</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].Axis.NcToPlc</Name>
 					<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
 					<SubVar>
 						<Name>AxisState</Name>
@@ -7398,49 +7398,49 @@ External Setpoint Generation:
 					</SubVar>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bLimitForwardEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bLimitForwardEnable</Name>
 					<Comment>
 						<![CDATA[ NC Forward Limit Switch: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bLimitBackwardEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bLimitBackwardEnable</Name>
 					<Comment>
 						<![CDATA[ NC Backward Limit Switch: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bHome</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bHome</Name>
 					<Comment>
 						<![CDATA[ NO Home Switch: TRUE if at home]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bHardwareEnable</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bHardwareEnable</Name>
 					<Comment>
 						<![CDATA[ NC STO Input: TRUE if ok to move]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].nRawEncoderULINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].nRawEncoderULINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for ULINT (Biss-C)]]>
 					</Comment>
 					<Type>ULINT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].nRawEncoderUINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].nRawEncoderUINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for UINT (Relative Encoders)]]>
 					</Comment>
 					<Type>UINT</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].nRawEncoderINT</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].nRawEncoderINT</Name>
 					<Comment>
 						<![CDATA[ Raw encoder IO for INT (LVDT)]]>
 					</Comment>
@@ -12884,37 +12884,37 @@ External Setpoint Generation:
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbMotionCF1K4.fbDriveVirtual.MasterAxis.PlcToNc</Name>
+					<Name>PRG_CF1K4_IP1.fbMotionCF1K4.fbDriveVirtual.MasterAxis.PlcToNc</Name>
 					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].Axis.PlcToNc</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].Axis.PlcToNc</Name>
 					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bBrakeRelease</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bBrakeRelease</Name>
 					<Comment>
 						<![CDATA[ NC Brake Output: TRUE to release brake]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].Axis.PlcToNc</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].Axis.PlcToNc</Name>
 					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bBrakeRelease</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bBrakeRelease</Name>
 					<Comment>
 						<![CDATA[ NC Brake Output: TRUE to release brake]]>
 					</Comment>
 					<Type>BOOL</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].Axis.PlcToNc</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].Axis.PlcToNc</Name>
 					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 				</Var>
 				<Var>
-					<Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bBrakeRelease</Name>
+					<Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bBrakeRelease</Name>
 					<Comment>
 						<![CDATA[ NC Brake Output: TRUE to release brake]]>
 					</Comment>
@@ -12924,10 +12924,6 @@ External Setpoint Generation:
 					<Name>GVL_PMPS.PMPS_ST4K4_IN</Name>
 					<Type>BOOL</Type>
 				</Var>
-				<Var>
-					<Name>GVL_PMPS.PMPS_ST4K4_OUT</Name>
-					<Type>BOOL</Type>
-				</Var>
 				<Var>
 					<Name>PRG_3_PMPS_POST.fbArbiterIO.q_stRequestedBP</Name>
 					<Type GUID="{292CD354-C7C0-4A61-AAD0-1C85DD69646B}">ST_BeamParams_IO</Type>
@@ -13066,6 +13062,10 @@ External Setpoint Generation:
 					<Name>GVL_PMPS.fbFastFaultOutput2.q_xFastFaultOut</Name>
 					<Type>BOOL</Type>
 				</Var>
+				<Var>
+					<Name>GVL_PMPS.PMPS_ST4K4_OUT</Name>
+					<Type>BOOL</Type>
+				</Var>
 				<Var>
 					<Name>Main.M1.Axis.PlcToNc</Name>
 					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
diff --git a/plc-tmo-motion/tmo_motion/GVLs/Main.TcGVL b/plc-tmo-motion/tmo_motion/GVLs/Main.TcGVL
index 0c958a7..adc15c7 100644
--- a/plc-tmo-motion/tmo_motion/GVLs/Main.TcGVL
+++ b/plc-tmo-motion/tmo_motion/GVLs/Main.TcGVL
@@ -312,7 +312,7 @@ VAR_GLOBAL
                               .bLimitBackwardEnable := TIIB[LI2K4Y-EL7047-E1]^STM Status^Status^Digital input 2;
                               .nRawEncoderULINT     := TIIB[LI2K4-EL5042-E2]^FB Inputs Channel 1^Position'}
     {attribute 'pytmc' := '
-        pv: LI2K4:MMS:Y
+        pv: LI2K4:IP1:MMS:Y
     '}
 
     M45: ST_MotionStage := (
@@ -320,20 +320,20 @@ VAR_GLOBAL
         bPowerSelf:=TRUE,
         nEnableMode:=ENUM_StageEnableMode.DURING_MOTION,
         nHomingMode := ENUM_EpicsHomeCmd.NONE,
-        sName := 'LI2K4:MMS:Y');
+        sName := 'LI2K4:IP1:MMS:Y');
 // LI2K4-MMS: X
     {attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIIB[LI2K4X-EL7047-E3]^STM Status^Status^Digital input 1;
                               .bLimitBackwardEnable := TIIB[LI2K4X-EL7047-E3]^STM Status^Status^Digital input 2;
                               .nRawEncoderULINT     := TIIB[LI2K4-EL5042-E2]^FB Inputs Channel 2^Position'}
     {attribute 'pytmc' := '
-        pv: LI2K4:MMS:X
+        pv: LI2K4:IP1:MMS:X
     '}
     M46: ST_MotionStage := (
         bHardwareEnable:=TRUE,
         bPowerSelf:=TRUE,
         nEnableMode:=ENUM_StageEnableMode.DURING_MOTION,
         nHomingMode := ENUM_EpicsHomeCmd.NONE,
-        sName := 'LI2K4:MMS:X');
+        sName := 'LI2K4:IP1:MMS:X');
 
     //CF1K4-MMS-FILT
     {attribute 'pytmc' := 'pv: CF1K4:MMS:FILT'}
@@ -341,14 +341,14 @@ VAR_GLOBAL
                               .bLimitBackwardEnable := TIIB[CF1K4-EL7047-E4]^STM Status^Status^Digital input 2;
                               .nRawEncoderULINT     := TIIB[CF1K4-EL5042-E5]^FB Inputs Channel 1^Position'}
     {attribute 'pytmc' := '
-        pv: CF1K4:MMS:FILT
+        pv: CF1K4:IP1:MMS
     '}
     M47: ST_MotionStage := (
         bHardwareEnable:=TRUE,
         bPowerSelf:=TRUE,
         nEnableMode:=ENUM_StageEnableMode.DURING_MOTION,
         nHomingMode := ENUM_EpicsHomeCmd.NONE,
-        sName := 'CF1K4:MMS:FILT');
+        sName := 'CF1K4:IP1:MMS');
 
 END_VAR]]></Declaration>
   </GVL>
diff --git a/plc-tmo-motion/tmo_motion/POUs/PRG_1_PlcTask.TcPOU b/plc-tmo-motion/tmo_motion/POUs/PRG_1_PlcTask.TcPOU
index f26e207..56430a6 100644
--- a/plc-tmo-motion/tmo_motion/POUs/PRG_1_PlcTask.TcPOU
+++ b/plc-tmo-motion/tmo_motion/POUs/PRG_1_PlcTask.TcPOU
@@ -25,7 +25,7 @@ PRG_TM1K4();
 PRG_TM2K4();
 PRG_SP1K4();
 PRG_LI2K4_IP1();
-PRG_CF1K4_CAL();
+PRG_CF1K4_IP1();
 
 PRG_3_PMPS_POST();
 PRG_4_LOG();
diff --git a/plc-tmo-motion/tmo_motion/POUs/PRG_CF1K4_CAL.TcPOU b/plc-tmo-motion/tmo_motion/POUs/PRG_CF1K4_IP1.TcPOU
similarity index 96%
rename from plc-tmo-motion/tmo_motion/POUs/PRG_CF1K4_CAL.TcPOU
rename to plc-tmo-motion/tmo_motion/POUs/PRG_CF1K4_IP1.TcPOU
index ac487a6..66a122d 100644
--- a/plc-tmo-motion/tmo_motion/POUs/PRG_CF1K4_CAL.TcPOU
+++ b/plc-tmo-motion/tmo_motion/POUs/PRG_CF1K4_IP1.TcPOU
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.18">
-  <POU Name="PRG_CF1K4_CAL" Id="{3b3608b5-fe23-47f9-92d0-d7907172c21f}" SpecialFunc="None">
-    <Declaration><![CDATA[PROGRAM PRG_CF1K4_CAL
+  <POU Name="PRG_CF1K4_IP1" Id="{3b3608b5-fe23-47f9-92d0-d7907172c21f}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM PRG_CF1K4_IP1
 VAR
     fbMotionCF1K4: FB_MotionStage;{attribute 'pytmc' := '
         pv: CF1K4:IP1
diff --git a/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU b/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
index 1eefb22..3b82ae5 100644
--- a/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
+++ b/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
@@ -24,16 +24,20 @@ VAR
     li2k4_enumGet: ENUM_LaserCoupling_States;
     fbStateSetup: FB_StateSetupHelper;
     stDefault: ST_PositionState :=(
-        fDelta :=0.5,
+  //      fDelta :=0.5,
         fVelocity := 0.5,
+        bMoveOk := TRUE,
         bValid := TRUE
     );
     aLI2K4XStates: ARRAY[1..GeneralConstants.MAX_STATES] OF ST_PositionState;
     aLI2K4YStates: ARRAY[1..GeneralConstants.MAX_STATES] OF ST_PositionState;
 
 
-    bLI2K4XOut: BOOL;
-    bLI2K4YIn: BOOL;
+
+    EPS_LI2K4Y_Positive : FB_EPS;
+    EPS_LI2K4Y_Negative : FB_EPS;
+    EPS_LI2K4X_Positive : FB_EPS;
+    EPS_LI2K4X_Negative : FB_EPS;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -43,15 +47,26 @@ fbMotionLI2K4X(stMotionStage:=Main.M46);
 
 //LI2K4 2DPMPS
 fbStateSetup(stPositionState:=stDefault, bSetDefault:=TRUE);
-fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT], sName := 'OUT', fPosition:=-0.75);
-fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.OUT], sName := 'OUT', fPosition:=-33.125);
-fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1], sName := 'MIRROR1', fPosition:=-2.1245);
-fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1], sName := 'MIRROR1', fPosition:=-84.5);
+fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT], fDelta := 0.5, sName := 'OUT', fPosition:=-0.75);
+fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.OUT], fDelta := 0.5,  sName := 'OUT', fPosition:=33.125);
+fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1],fDelta := 1.5, sName := 'MIRROR1', fPosition:=-3.375);
+fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1],fDelta := 0.5, sName := 'MIRROR1', fPosition:=84.5);
 
 aLI2K4XStates[ENUM_LaserCoupling_States.OUT].stPMPS.sPmpsState := 'LI2K4:IP1-OUT';
 aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1].stPMPS.sPmpsState := 'LI2K4:IP1-MIRROR1';
 
 //LI2K4 EPS condition: OUT->In move Y then move X + IN->OUT move X thenm move Y
+//Y only can move up and down when X is OUT
+EPS_LI2K4Y_Positive(eps:=Main.M45.stEPSForwardEnable);
+EPS_LI2K4Y_Positive.setBit(nBits := 0, bValue:= Main.M46.stAxisStatus.fActPosition > -0.8);
+EPS_LI2K4Y_Negative(eps:=Main.M45.stEPSBackwardEnable);
+EPS_LI2K4Y_Negative.setBit(nBits := 0, bValue:= Main.M46.stAxisStatus.fActPosition > -0.8);
+
+EPS_LI2K4X_Positive(eps:=Main.M46.stEPSForwardEnable);
+EPS_LI2K4X_Positive.setBit(nBits := 0, bValue:= Main.M45.stAxisStatus.fActPosition > 84);
+EPS_LI2K4X_Negative(eps:=Main.M46.stEPSBackwardEnable);
+EPS_LI2K4X_Negative.setBit(nBits := 0, bValue:= Main.M45.stAxisStatus.fActPosition > 84);
+
 {*
 
 bLI2K4XOut := F_AtPositionState(stMotionStage:=Main.M46, stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT]);
diff --git a/plc-tmo-motion/tmo_motion/tmo_motion.plcproj b/plc-tmo-motion/tmo_motion/tmo_motion.plcproj
index 2325267..c5e5924 100644
--- a/plc-tmo-motion/tmo_motion/tmo_motion.plcproj
+++ b/plc-tmo-motion/tmo_motion/tmo_motion.plcproj
@@ -69,7 +69,7 @@
     <Compile Include="POUs\PRG_AL1K4_L2SI.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\PRG_CF1K4_CAL.TcPOU">
+    <Compile Include="POUs\PRG_CF1K4_IP1.TcPOU">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="POUs\PRG_IM2K4_PPM.TcPOU">
diff --git a/plc-tmo-motion/tmo_motion/tmo_motion.tmc b/plc-tmo-motion/tmo_motion/tmo_motion.tmc
index 29faeb2..93af5c1 100644
--- a/plc-tmo-motion/tmo_motion/tmo_motion.tmc
+++ b/plc-tmo-motion/tmo_motion/tmo_motion.tmc
@@ -1,5 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{24DB43BD-9E97-BED7-7FD3-612D5851CC08}" GeneratedBy="TwinCAT XAE Plc">
+<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{D6CE4E72-BC3D-64DC-1129-21036F155D9C}" GeneratedBy="TwinCAT XAE Plc">
   <DataTypes>
     <DataType>
       <Name Namespace="LCLS_General">ST_System</Name>
@@ -180,31 +180,31 @@
         <Name>bBusy</Name>
         <Type>BOOL</Type>
         <BitSize>8</BitSize>
-        <GetCodeOffs>86334752</GetCodeOffs>
+        <GetCodeOffs>86334848</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>bError</Name>
         <Type>BOOL</Type>
         <BitSize>8</BitSize>
-        <GetCodeOffs>86334784</GetCodeOffs>
+        <GetCodeOffs>86334880</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>hrErrorCode</Name>
         <Type GUID="{18071995-0000-0000-0000-000000000019}">HRESULT</Type>
         <BitSize>32</BitSize>
-        <GetCodeOffs>86334792</GetCodeOffs>
+        <GetCodeOffs>86334888</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>nStringSize</Name>
         <Type>UDINT</Type>
         <BitSize>32</BitSize>
-        <GetCodeOffs>86334776</GetCodeOffs>
+        <GetCodeOffs>86334872</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>sResult</Name>
         <Type>STRING(255)</Type>
         <BitSize>2048</BitSize>
-        <GetCodeOffs>86334788</GetCodeOffs>
+        <GetCodeOffs>86334884</GetCodeOffs>
       </PropertyItem>
       <Method>
         <Name RpcEnable="plc" VTableIndex="0">__getbBusy</Name>
@@ -1413,15 +1413,15 @@
         <Name>nId</Name>
         <Type>UDINT</Type>
         <BitSize>32</BitSize>
-        <GetCodeOffs>86334696</GetCodeOffs>
-        <SetCodeOffs>86334720</SetCodeOffs>
+        <GetCodeOffs>86334792</GetCodeOffs>
+        <SetCodeOffs>86334816</SetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>sName</Name>
         <Type>STRING(255)</Type>
         <BitSize>2048</BitSize>
-        <GetCodeOffs>86334732</GetCodeOffs>
-        <SetCodeOffs>86334744</SetCodeOffs>
+        <GetCodeOffs>86334828</GetCodeOffs>
+        <SetCodeOffs>86334840</SetCodeOffs>
       </PropertyItem>
       <Method>
         <Name RpcEnable="plc" VTableIndex="9">__setbCutInstancePathByLastInst</Name>
@@ -1689,31 +1689,31 @@
         <Name>eSeverity</Name>
         <Type GUID="{B57D3F4A-0836-49B0-81C3-BED5F4817EC9}">TcEventSeverity</Type>
         <BitSize>16</BitSize>
-        <GetCodeOffs>86334840</GetCodeOffs>
+        <GetCodeOffs>86334936</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>ipSourceInfo</Name>
         <Type Namespace="LCLS_General.Tc3_EventLogger">I_TcSourceInfo</Type>
         <BitSize>32</BitSize>
-        <GetCodeOffs>86334820</GetCodeOffs>
+        <GetCodeOffs>86334916</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>nEventId</Name>
         <Type>UDINT</Type>
         <BitSize>32</BitSize>
-        <GetCodeOffs>86334908</GetCodeOffs>
+        <GetCodeOffs>86335004</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>sEventClassName</Name>
         <Type>STRING(255)</Type>
         <BitSize>2048</BitSize>
-        <GetCodeOffs>86334868</GetCodeOffs>
+        <GetCodeOffs>86334964</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>sEventText</Name>
         <Type>STRING(255)</Type>
         <BitSize>2048</BitSize>
-        <GetCodeOffs>86334912</GetCodeOffs>
+        <GetCodeOffs>86335008</GetCodeOffs>
       </PropertyItem>
       <Method>
         <Name>EqualsToEventClass</Name>
@@ -2286,7 +2286,7 @@
         <Name>nTimeSent</Name>
         <Type>ULINT</Type>
         <BitSize>64</BitSize>
-        <GetCodeOffs>86334936</GetCodeOffs>
+        <GetCodeOffs>86335032</GetCodeOffs>
       </PropertyItem>
       <Method>
         <Name>SetJsonAttribute</Name>
@@ -53686,6 +53686,73 @@ Digital outputs</Comment>
         <Enum>6</Enum>
       </EnumInfo>
     </DataType>
+    <DataType>
+      <Name Namespace="LCLS_General">FB_EPS</Name>
+      <BitSize>64</BitSize>
+      <SubItem>
+        <Name>eps</Name>
+        <Type Namespace="LCLS_General" ReferenceTo="true">DUT_EPS</Type>
+        <BitSize>32</BitSize>
+        <BitOffs>32</BitOffs>
+        <Properties>
+          <Property>
+            <Name>ItemType</Name>
+            <Value>InOut</Value>
+          </Property>
+        </Properties>
+      </SubItem>
+      <Method>
+        <Name>setBit</Name>
+        <ReturnType>BOOL</ReturnType>
+        <ReturnBitSize>8</ReturnBitSize>
+        <Parameter>
+          <Name>nBits</Name>
+          <Type>BYTE</Type>
+          <BitSize>8</BitSize>
+        </Parameter>
+        <Parameter>
+          <Name>bValue</Name>
+          <Type>BOOL</Type>
+          <BitSize>8</BitSize>
+        </Parameter>
+        <Local>
+          <Name>nMask</Name>
+          <Type>UDINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
+        <Local>
+          <Name>nBitValue</Name>
+          <Type>UDINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
+      </Method>
+      <Method>
+        <Name>setMessage</Name>
+        <ReturnType>BOOL</ReturnType>
+        <ReturnBitSize>8</ReturnBitSize>
+        <Parameter>
+          <Name>message</Name>
+          <Type>STRING(80)</Type>
+          <BitSize>648</BitSize>
+        </Parameter>
+      </Method>
+      <Method>
+        <Name>setDescription</Name>
+        <ReturnType>BOOL</ReturnType>
+        <ReturnBitSize>8</ReturnBitSize>
+        <Parameter>
+          <Name>desciption</Name>
+          <Type>STRING(80)</Type>
+          <BitSize>648</BitSize>
+        </Parameter>
+      </Method>
+      <Properties>
+        <Property>
+          <Name>PouType</Name>
+          <Value>FunctionBlock</Value>
+        </Property>
+      </Properties>
+    </DataType>
     <DataType>
       <Name GUID="{292CD354-C7C0-4A61-AAD0-1C85DD69646B}">ST_BeamParams_IO</Name>
       <BitSize>1760</BitSize>
@@ -54448,8 +54515,8 @@ Digital outputs</Comment>
         <Name>nTimestamp</Name>
         <Type>ULINT</Type>
         <BitSize>64</BitSize>
-        <GetCodeOffs>86341488</GetCodeOffs>
-        <SetCodeOffs>86341496</SetCodeOffs>
+        <GetCodeOffs>86341616</GetCodeOffs>
+        <SetCodeOffs>86341624</SetCodeOffs>
       </PropertyItem>
       <Method>
         <Name RpcEnable="plc" VTableIndex="44">__getnTimestamp</Name>
@@ -55743,31 +55810,31 @@ Digital outputs</Comment>
         <Name>bBusy</Name>
         <Type>BOOL</Type>
         <BitSize>8</BitSize>
-        <GetCodeOffs>86341056</GetCodeOffs>
+        <GetCodeOffs>86341184</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>bError</Name>
         <Type>BOOL</Type>
         <BitSize>8</BitSize>
-        <GetCodeOffs>86341088</GetCodeOffs>
+        <GetCodeOffs>86341216</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>hrErrorCode</Name>
         <Type GUID="{18071995-0000-0000-0000-000000000019}">HRESULT</Type>
         <BitSize>32</BitSize>
-        <GetCodeOffs>86341092</GetCodeOffs>
+        <GetCodeOffs>86341220</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>nStringSize</Name>
         <Type>UDINT</Type>
         <BitSize>32</BitSize>
-        <GetCodeOffs>86341080</GetCodeOffs>
+        <GetCodeOffs>86341208</GetCodeOffs>
       </PropertyItem>
       <PropertyItem>
         <Name>sEventText</Name>
         <Type>STRING(255)</Type>
         <BitSize>2048</BitSize>
-        <GetCodeOffs>86341100</GetCodeOffs>
+        <GetCodeOffs>86341228</GetCodeOffs>
       </PropertyItem>
       <Method>
         <Name RpcEnable="plc" VTableIndex="0">__getbBusy</Name>
@@ -65656,7 +65723,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>674867648</BitOffs>
+            <BitOffs>674867904</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbMotionLI2K4Y.fbDriveVirtual.MasterAxis.NcToPlc</Name>
@@ -65668,7 +65735,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>675165568</BitOffs>
+            <BitOffs>675165824</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].Axis.NcToPlc</Name>
@@ -65680,7 +65747,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676729024</BitOffs>
+            <BitOffs>676729280</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].bLimitForwardEnable</Name>
@@ -65693,7 +65760,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676736960</BitOffs>
+            <BitOffs>676737216</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].bLimitBackwardEnable</Name>
@@ -65706,7 +65773,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676736968</BitOffs>
+            <BitOffs>676737224</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].bHome</Name>
@@ -65719,7 +65786,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676736976</BitOffs>
+            <BitOffs>676737232</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].bHardwareEnable</Name>
@@ -65742,7 +65809,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676736992</BitOffs>
+            <BitOffs>676737248</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].nRawEncoderULINT</Name>
@@ -65755,7 +65822,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676737024</BitOffs>
+            <BitOffs>676737280</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].nRawEncoderUINT</Name>
@@ -65768,7 +65835,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676737088</BitOffs>
+            <BitOffs>676737344</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[1].nRawEncoderINT</Name>
@@ -65781,7 +65848,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676737104</BitOffs>
+            <BitOffs>676737360</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].Axis.NcToPlc</Name>
@@ -65793,7 +65860,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676754240</BitOffs>
+            <BitOffs>676754496</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].bLimitForwardEnable</Name>
@@ -65806,7 +65873,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676762176</BitOffs>
+            <BitOffs>676762432</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].bLimitBackwardEnable</Name>
@@ -65819,7 +65886,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676762184</BitOffs>
+            <BitOffs>676762440</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].bHome</Name>
@@ -65832,7 +65899,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676762192</BitOffs>
+            <BitOffs>676762448</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].bHardwareEnable</Name>
@@ -65855,7 +65922,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676762208</BitOffs>
+            <BitOffs>676762464</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].nRawEncoderULINT</Name>
@@ -65868,7 +65935,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676762240</BitOffs>
+            <BitOffs>676762496</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].nRawEncoderUINT</Name>
@@ -65881,7 +65948,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676762304</BitOffs>
+            <BitOffs>676762560</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[2].nRawEncoderINT</Name>
@@ -65894,7 +65961,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676762320</BitOffs>
+            <BitOffs>676762576</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].Axis.NcToPlc</Name>
@@ -65906,7 +65973,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676779456</BitOffs>
+            <BitOffs>676779712</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].bLimitForwardEnable</Name>
@@ -65919,7 +65986,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676787392</BitOffs>
+            <BitOffs>676787648</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].bLimitBackwardEnable</Name>
@@ -65932,7 +65999,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676787400</BitOffs>
+            <BitOffs>676787656</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].bHome</Name>
@@ -65945,7 +66012,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676787408</BitOffs>
+            <BitOffs>676787664</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].bHardwareEnable</Name>
@@ -65968,7 +66035,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676787424</BitOffs>
+            <BitOffs>676787680</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].nRawEncoderULINT</Name>
@@ -65981,7 +66048,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676787456</BitOffs>
+            <BitOffs>676787712</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].nRawEncoderUINT</Name>
@@ -65994,7 +66061,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676787520</BitOffs>
+            <BitOffs>676787776</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_LI2K4_IP1.fbLI2K4States.astMotionStageMax[3].nRawEncoderINT</Name>
@@ -66007,10 +66074,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>676787536</BitOffs>
+            <BitOffs>676787792</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbMotionCF1K4.fbDriveVirtual.MasterAxis.NcToPlc</Name>
+            <Name>PRG_CF1K4_IP1.fbMotionCF1K4.fbDriveVirtual.MasterAxis.NcToPlc</Name>
             <BitSize>2048</BitSize>
             <BaseType GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}">NCTOPLC_AXIS_REF</BaseType>
             <Properties>
@@ -66019,10 +66086,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>677171200</BitOffs>
+            <BitOffs>677171712</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].Axis.NcToPlc</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].Axis.NcToPlc</Name>
             <BitSize>2048</BitSize>
             <BaseType GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}">NCTOPLC_AXIS_REF</BaseType>
             <Properties>
@@ -66031,10 +66098,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678734592</BitOffs>
+            <BitOffs>678735104</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bLimitForwardEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bLimitForwardEnable</Name>
             <Comment> NC Forward Limit Switch: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66044,10 +66111,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678742528</BitOffs>
+            <BitOffs>678743040</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bLimitBackwardEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bLimitBackwardEnable</Name>
             <Comment> NC Backward Limit Switch: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66057,10 +66124,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678742536</BitOffs>
+            <BitOffs>678743048</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bHome</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bHome</Name>
             <Comment> NO Home Switch: TRUE if at home</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66070,10 +66137,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678742544</BitOffs>
+            <BitOffs>678743056</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].bHardwareEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].bHardwareEnable</Name>
             <Comment> NC STO Input: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66093,10 +66160,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678742560</BitOffs>
+            <BitOffs>678743072</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].nRawEncoderULINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].nRawEncoderULINT</Name>
             <Comment> Raw encoder IO for ULINT (Biss-C)</Comment>
             <BitSize>64</BitSize>
             <BaseType>ULINT</BaseType>
@@ -66106,10 +66173,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678742592</BitOffs>
+            <BitOffs>678743104</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].nRawEncoderUINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].nRawEncoderUINT</Name>
             <Comment> Raw encoder IO for UINT (Relative Encoders)</Comment>
             <BitSize>16</BitSize>
             <BaseType>UINT</BaseType>
@@ -66119,10 +66186,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678742656</BitOffs>
+            <BitOffs>678743168</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[1].nRawEncoderINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[1].nRawEncoderINT</Name>
             <Comment> Raw encoder IO for INT (LVDT)</Comment>
             <BitSize>16</BitSize>
             <BaseType>INT</BaseType>
@@ -66132,10 +66199,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678742672</BitOffs>
+            <BitOffs>678743184</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].Axis.NcToPlc</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].Axis.NcToPlc</Name>
             <BitSize>2048</BitSize>
             <BaseType GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}">NCTOPLC_AXIS_REF</BaseType>
             <Properties>
@@ -66144,10 +66211,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678759808</BitOffs>
+            <BitOffs>678760320</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bLimitForwardEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bLimitForwardEnable</Name>
             <Comment> NC Forward Limit Switch: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66157,10 +66224,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678767744</BitOffs>
+            <BitOffs>678768256</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bLimitBackwardEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bLimitBackwardEnable</Name>
             <Comment> NC Backward Limit Switch: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66170,10 +66237,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678767752</BitOffs>
+            <BitOffs>678768264</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bHome</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bHome</Name>
             <Comment> NO Home Switch: TRUE if at home</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66183,10 +66250,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678767760</BitOffs>
+            <BitOffs>678768272</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].bHardwareEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].bHardwareEnable</Name>
             <Comment> NC STO Input: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66206,10 +66273,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678767776</BitOffs>
+            <BitOffs>678768288</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].nRawEncoderULINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].nRawEncoderULINT</Name>
             <Comment> Raw encoder IO for ULINT (Biss-C)</Comment>
             <BitSize>64</BitSize>
             <BaseType>ULINT</BaseType>
@@ -66219,10 +66286,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678767808</BitOffs>
+            <BitOffs>678768320</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].nRawEncoderUINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].nRawEncoderUINT</Name>
             <Comment> Raw encoder IO for UINT (Relative Encoders)</Comment>
             <BitSize>16</BitSize>
             <BaseType>UINT</BaseType>
@@ -66232,10 +66299,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678767872</BitOffs>
+            <BitOffs>678768384</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[2].nRawEncoderINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[2].nRawEncoderINT</Name>
             <Comment> Raw encoder IO for INT (LVDT)</Comment>
             <BitSize>16</BitSize>
             <BaseType>INT</BaseType>
@@ -66245,10 +66312,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678767888</BitOffs>
+            <BitOffs>678768400</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].Axis.NcToPlc</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].Axis.NcToPlc</Name>
             <BitSize>2048</BitSize>
             <BaseType GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}">NCTOPLC_AXIS_REF</BaseType>
             <Properties>
@@ -66257,10 +66324,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678785024</BitOffs>
+            <BitOffs>678785536</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bLimitForwardEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bLimitForwardEnable</Name>
             <Comment> NC Forward Limit Switch: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66270,10 +66337,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678792960</BitOffs>
+            <BitOffs>678793472</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bLimitBackwardEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bLimitBackwardEnable</Name>
             <Comment> NC Backward Limit Switch: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66283,10 +66350,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678792968</BitOffs>
+            <BitOffs>678793480</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bHome</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bHome</Name>
             <Comment> NO Home Switch: TRUE if at home</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66296,10 +66363,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678792976</BitOffs>
+            <BitOffs>678793488</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].bHardwareEnable</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].bHardwareEnable</Name>
             <Comment> NC STO Input: TRUE if ok to move</Comment>
             <BitSize>8</BitSize>
             <BaseType>BOOL</BaseType>
@@ -66319,10 +66386,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678792992</BitOffs>
+            <BitOffs>678793504</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].nRawEncoderULINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].nRawEncoderULINT</Name>
             <Comment> Raw encoder IO for ULINT (Biss-C)</Comment>
             <BitSize>64</BitSize>
             <BaseType>ULINT</BaseType>
@@ -66332,10 +66399,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678793024</BitOffs>
+            <BitOffs>678793536</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].nRawEncoderUINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].nRawEncoderUINT</Name>
             <Comment> Raw encoder IO for UINT (Relative Encoders)</Comment>
             <BitSize>16</BitSize>
             <BaseType>UINT</BaseType>
@@ -66345,10 +66412,10 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678793088</BitOffs>
+            <BitOffs>678793600</BitOffs>
           </Symbol>
           <Symbol>
-            <Name>PRG_CF1K4_CAL.fbCF1K4States.astMotionStageMax[3].nRawEncoderINT</Name>
+            <Name>PRG_CF1K4_IP1.fbCF1K4States.astMotionStageMax[3].nRawEncoderINT</Name>
             <Comment> Raw encoder IO for INT (LVDT)</Comment>
             <BitSize>16</BitSize>
             <BaseType>INT</BaseType>
@@ -66358,7 +66425,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>678793104</BitOffs>
+            <BitOffs>678793616</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_3_PMPS_POST.fbArbiterIO.i_stCurrentBP</Name>
@@ -66374,7 +66441,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>679120992</BitOffs>
+            <BitOffs>679121440</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_3_PMPS_POST.fbArbiterIO.xTxPDO_toggle</Name>
@@ -66395,7 +66462,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>679124512</BitOffs>
+            <BitOffs>679124960</BitOffs>
           </Symbol>
           <Symbol>
             <Name>PRG_3_PMPS_POST.fbArbiterIO.xTxPDO_state</Name>
@@ -66416,7 +66483,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>679124513</BitOffs>
+            <BitOffs>679124961</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.Axis.NcToPlc</Name>
@@ -66428,7 +66495,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689322944</BitOffs>
+            <BitOffs>689323456</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.bLimitForwardEnable</Name>
@@ -66441,7 +66508,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689330880</BitOffs>
+            <BitOffs>689331392</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.bLimitBackwardEnable</Name>
@@ -66454,7 +66521,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689330888</BitOffs>
+            <BitOffs>689331400</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.bHome</Name>
@@ -66467,7 +66534,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689330896</BitOffs>
+            <BitOffs>689331408</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.bHardwareEnable</Name>
@@ -66490,7 +66557,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689330912</BitOffs>
+            <BitOffs>689331424</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.nRawEncoderULINT</Name>
@@ -66503,7 +66570,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689330944</BitOffs>
+            <BitOffs>689331456</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.nRawEncoderUINT</Name>
@@ -66516,7 +66583,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689331008</BitOffs>
+            <BitOffs>689331520</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M1.nRawEncoderINT</Name>
@@ -66529,7 +66596,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689331024</BitOffs>
+            <BitOffs>689331536</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.Axis.NcToPlc</Name>
@@ -66541,7 +66608,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689348160</BitOffs>
+            <BitOffs>689348672</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.bLimitForwardEnable</Name>
@@ -66554,7 +66621,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689356096</BitOffs>
+            <BitOffs>689356608</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.bLimitBackwardEnable</Name>
@@ -66567,7 +66634,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689356104</BitOffs>
+            <BitOffs>689356616</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.bHome</Name>
@@ -66580,7 +66647,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689356112</BitOffs>
+            <BitOffs>689356624</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.bHardwareEnable</Name>
@@ -66603,7 +66670,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689356128</BitOffs>
+            <BitOffs>689356640</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.nRawEncoderULINT</Name>
@@ -66616,7 +66683,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689356160</BitOffs>
+            <BitOffs>689356672</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.nRawEncoderUINT</Name>
@@ -66629,7 +66696,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689356224</BitOffs>
+            <BitOffs>689356736</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M2.nRawEncoderINT</Name>
@@ -66642,7 +66709,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689356240</BitOffs>
+            <BitOffs>689356752</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M3.Axis.NcToPlc</Name>
@@ -66654,7 +66721,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
-            <BitOffs>689373376</BitOffs>
+            <BitOffs>689373888</BitOffs>
           </Symbol>
           <Symbol>
             <Name>Main.M3.bLimitForwardEnable</Name>
@@ -66667,7 +66734,7 @@ Digital outputs</Comment>
                 <Value>Input</Value>
               </Property>
             </Properties>
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@@ -66729,7 +66796,7 @@ Digital outputs</Comment>
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@@ -66742,7 +66809,7 @@ Digital outputs</Comment>
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@@ -66755,7 +66822,7 @@ Digital outputs</Comment>
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@@ -66767,7 +66834,7 @@ Digital outputs</Comment>
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@@ -66780,7 +66847,7 @@ Digital outputs</Comment>
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@@ -66793,7 +66860,7 @@ Digital outputs</Comment>
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@@ -66806,7 +66873,7 @@ Digital outputs</Comment>
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@@ -66829,7 +66896,7 @@ Digital outputs</Comment>
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@@ -66842,7 +66909,7 @@ Digital outputs</Comment>
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@@ -66868,7 +66935,7 @@ Digital outputs</Comment>
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@@ -66880,7 +66947,7 @@ Digital outputs</Comment>
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@@ -66893,7 +66960,7 @@ Digital outputs</Comment>
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@@ -66906,7 +66973,7 @@ Digital outputs</Comment>
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@@ -66919,7 +66986,7 @@ Digital outputs</Comment>
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@@ -66942,7 +67009,7 @@ Digital outputs</Comment>
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@@ -66955,7 +67022,7 @@ Digital outputs</Comment>
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@@ -66968,7 +67035,7 @@ Digital outputs</Comment>
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@@ -66981,7 +67048,7 @@ Digital outputs</Comment>
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@@ -66993,7 +67060,7 @@ Digital outputs</Comment>
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@@ -67006,7 +67073,7 @@ Digital outputs</Comment>
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@@ -67019,7 +67086,7 @@ Digital outputs</Comment>
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@@ -67032,7 +67099,7 @@ Digital outputs</Comment>
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@@ -67055,7 +67122,7 @@ Digital outputs</Comment>
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@@ -67068,7 +67135,7 @@ Digital outputs</Comment>
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@@ -67081,7 +67148,7 @@ Digital outputs</Comment>
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@@ -67094,7 +67161,7 @@ Digital outputs</Comment>
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@@ -67106,7 +67173,7 @@ Digital outputs</Comment>
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@@ -67119,7 +67186,7 @@ Digital outputs</Comment>
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@@ -67132,7 +67199,7 @@ Digital outputs</Comment>
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@@ -67145,7 +67212,7 @@ Digital outputs</Comment>
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@@ -67168,7 +67235,7 @@ Digital outputs</Comment>
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@@ -67181,7 +67248,7 @@ Digital outputs</Comment>
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@@ -67194,7 +67261,7 @@ Digital outputs</Comment>
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@@ -67207,7 +67274,7 @@ Digital outputs</Comment>
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@@ -67219,7 +67286,7 @@ Digital outputs</Comment>
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@@ -67232,7 +67299,7 @@ Digital outputs</Comment>
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@@ -67245,7 +67312,7 @@ Digital outputs</Comment>
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@@ -67258,7 +67325,7 @@ Digital outputs</Comment>
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@@ -67281,7 +67348,7 @@ Digital outputs</Comment>
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@@ -67294,7 +67361,7 @@ Digital outputs</Comment>
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@@ -67307,7 +67374,7 @@ Digital outputs</Comment>
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@@ -67320,7 +67387,7 @@ Digital outputs</Comment>
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@@ -67332,7 +67399,7 @@ Digital outputs</Comment>
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@@ -67345,7 +67412,7 @@ Digital outputs</Comment>
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@@ -67358,7 +67425,7 @@ Digital outputs</Comment>
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@@ -67371,7 +67438,7 @@ Digital outputs</Comment>
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@@ -67394,7 +67461,7 @@ Digital outputs</Comment>
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@@ -67407,7 +67474,7 @@ Digital outputs</Comment>
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@@ -67420,7 +67487,7 @@ Digital outputs</Comment>
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@@ -67433,7 +67500,7 @@ Digital outputs</Comment>
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@@ -67445,7 +67512,7 @@ Digital outputs</Comment>
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@@ -67458,7 +67525,7 @@ Digital outputs</Comment>
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@@ -67471,7 +67538,7 @@ Digital outputs</Comment>
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@@ -67484,7 +67551,7 @@ Digital outputs</Comment>
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@@ -67558,7 +67625,7 @@ Digital outputs</Comment>
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@@ -67633,7 +67700,7 @@ Digital outputs</Comment>
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@@ -67671,7 +67738,7 @@ Digital outputs</Comment>
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@@ -67797,7 +67864,7 @@ Digital outputs</Comment>
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@@ -67810,7 +67877,7 @@ Digital outputs</Comment>
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@@ -67846,7 +67913,7 @@ Digital outputs</Comment>
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@@ -67859,7 +67926,7 @@ Digital outputs</Comment>
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@@ -67872,7 +67939,7 @@ Digital outputs</Comment>
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@@ -67885,7 +67952,7 @@ Digital outputs</Comment>
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@@ -67897,7 +67964,7 @@ Digital outputs</Comment>
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@@ -67910,7 +67977,7 @@ Digital outputs</Comment>
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@@ -67923,7 +67990,7 @@ Digital outputs</Comment>
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@@ -67959,7 +68026,7 @@ Digital outputs</Comment>
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@@ -67972,7 +68039,7 @@ Digital outputs</Comment>
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@@ -67985,7 +68052,7 @@ Digital outputs</Comment>
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@@ -67998,7 +68065,7 @@ Digital outputs</Comment>
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@@ -68010,7 +68077,7 @@ Digital outputs</Comment>
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@@ -68023,7 +68090,7 @@ Digital outputs</Comment>
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@@ -68036,7 +68103,7 @@ Digital outputs</Comment>
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@@ -68049,7 +68116,7 @@ Digital outputs</Comment>
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@@ -68072,7 +68139,7 @@ Digital outputs</Comment>
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@@ -68085,7 +68152,7 @@ Digital outputs</Comment>
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@@ -68098,7 +68165,7 @@ Digital outputs</Comment>
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@@ -68111,7 +68178,7 @@ Digital outputs</Comment>
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@@ -68123,7 +68190,7 @@ Digital outputs</Comment>
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@@ -68136,7 +68203,7 @@ Digital outputs</Comment>
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@@ -68149,7 +68216,7 @@ Digital outputs</Comment>
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@@ -68162,7 +68229,7 @@ Digital outputs</Comment>
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@@ -68185,7 +68252,7 @@ Digital outputs</Comment>
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@@ -68198,7 +68265,7 @@ Digital outputs</Comment>
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@@ -68211,7 +68278,7 @@ Digital outputs</Comment>
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@@ -68224,7 +68291,7 @@ Digital outputs</Comment>
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@@ -68236,7 +68303,7 @@ Digital outputs</Comment>
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@@ -68249,7 +68316,7 @@ Digital outputs</Comment>
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@@ -68262,7 +68329,7 @@ Digital outputs</Comment>
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@@ -68275,7 +68342,7 @@ Digital outputs</Comment>
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@@ -68298,7 +68365,7 @@ Digital outputs</Comment>
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@@ -68311,7 +68378,7 @@ Digital outputs</Comment>
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@@ -68324,7 +68391,7 @@ Digital outputs</Comment>
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@@ -68337,7 +68404,7 @@ Digital outputs</Comment>
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@@ -68349,7 +68416,7 @@ Digital outputs</Comment>
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@@ -68362,7 +68429,7 @@ Digital outputs</Comment>
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@@ -68375,7 +68442,7 @@ Digital outputs</Comment>
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@@ -68388,7 +68455,7 @@ Digital outputs</Comment>
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@@ -68424,7 +68491,7 @@ Digital outputs</Comment>
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@@ -68437,7 +68504,7 @@ Digital outputs</Comment>
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@@ -68462,7 +68529,7 @@ Digital outputs</Comment>
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@@ -68537,7 +68604,7 @@ Digital outputs</Comment>
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@@ -71626,7 +71693,7 @@ Digital outputs</Comment>
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@@ -71701,7 +71768,7 @@ Digital outputs</Comment>
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@@ -82838,7 +82895,7 @@ Digital outputs</Comment>
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@@ -83308,7 +83402,7 @@ Digital outputs</Comment>
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@@ -84210,7 +84304,7 @@ Digital outputs</Comment>
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@@ -84223,14 +84317,14 @@ Digital outputs</Comment>
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           <Name>ChangeDate</Name>
-          <Value>2024-03-14T13:53:54</Value>
+          <Value>2024-03-21T15:15:57</Value>
         </Property>
         <Property>
           <Name>GeneratedCodeSize</Name>
-          <Value>1085440</Value>
+          <Value>1089536</Value>
         </Property>
         <Property>
           <Name>GlobalDataSize</Name>