diff --git a/Twincat/MotorData/MotorData.sln b/Twincat/MotorData/MotorData.sln
index 53e8314..1206126 100644
--- a/Twincat/MotorData/MotorData.sln
+++ b/Twincat/MotorData/MotorData.sln
@@ -1,6 +1,6 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# TcXaeShell Solution File, Format Version 11.00
+# Visual Studio 15
 VisualStudioVersion = 15.0.28010.2050
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "MotorData", "MotorData\MotorData.tsproj", "{627AF960-8AD6-492C-BE55-42F15976A40C}"
diff --git a/Twincat/MotorData/MotorData/MotorData.tsproj b/Twincat/MotorData/MotorData/MotorData.tsproj
index 9ecb1a2..18a0f68 100644
--- a/Twincat/MotorData/MotorData/MotorData.tsproj
+++ b/Twincat/MotorData/MotorData/MotorData.tsproj
@@ -1,5 +1,5 @@
 <?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="3.1.4024.11">
+<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.12">
 	<ImageDatas>
 		<ImageData Id="1000">424dd8020000000000003600000028000000100000000e0000000100180000000000a2020000120b0000120b000000000000000000001306e31306e3190ce42b1fe62b1fe61306e31f13e5190ce42519e51306e31306e3190ce42f24e7190ce41306e31306e31306e31306e35f56ec645ced645ced4137e91f13e5473de95f57ec3227e71306e3473de95a51ec271be61306e31306e31409ca524cc68e8ad74f48c1615cc82218d03e36bf716bce746fce453dc01307ce3931ba7d78d27671d1150cb21409ca1712801b1d1d1b1d1d1b1d1d1b1d1d120b891b1d1d1b1d1d1b1d1d1b1d1d120b891b1d1d1b1d1d1b1d1d1b1d1d1712801712807f8080d4d5d5d4d5d5383939120b89545656d4d5d5d4d5d5626464130c89292b2bd4d5d5d4d5d56264641915801712804647471b1d1daaaaaad4d5d5130e82383939292b2b717272d4d5d5151183d4d5d57f80801b1d1d7172721e1c81191580464747d4d5d5d4d5d51b1d1d19158a292b2bd4d5d5d4d5d5292b2b1b1b8ad4d5d56264641b1d1d1b1d1d2427821e1d81d4d5d54647476264643839391e208bd4d5d57f8080464747545656242a8bd4d5d59b9c9c292b2baaaaaa2d3683252882464747d4d5d5d4d5d51b1d1d272d85292b2bd4d5d5d4d5d5292b2b2e37861b1d1dd4d5d5d4d5d5464747394484323bb52324812122822426822526824554c0323883292b822a2d83353c84424cbf3238843940842e32834853865d6ebb5262eb3e43e83334e74147e94349e9535feb4d56ea5662eb484dea545deb636fed545aea5a63ec6671ed8ca0f290a5f2748aef6b7bee5d68ec6874ed788aef8397f17684ef7986ef8c9ff2818ff1818ef08e9df18a97f18791f19ba9f3b0c0f691a4f291a2f28390f192a1f29cacf3a3b3f498a6f3a4b3f4aebdf5b0bef59ea8f3a3adf4bbc7f7c4d1f8cad7f8ced9f9b4c4f6b8c8f6acb8f59aa3f3b6c1f6c5d2f8c2cdf8ccd7f9d2ddf9d5e0fad2daf9d5dcf9dfe7fbe2e9fbe5ebfbe8eefb0000</ImageData>
 	</ImageDatas>
@@ -19,88 +19,419 @@
 					<Vars VarGrpType="1">
 						<Name>PlcTask Inputs</Name>
 						<Var>
-							<Name>GVL_motor_data.Status</Name>
-							<Comment><![CDATA[ Input ]]></Comment>
+							<Name>GVL_motor_data.M1_Status</Name>
+							<Comment><![CDATA[ Motor 1 //]]></Comment>
 							<Type>BYTE</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.Mode</Name>
+							<Name>GVL_motor_data.M1_Mode</Name>
 							<Type>BYTE</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.Com_State</Name>
+							<Name>GVL_motor_data.M1_Joint_rel_position</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Joint_abs_position</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Motor_speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Motor_current_bus</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Motor_currentPhA</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Motor_currentPhB</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Motor_currentPhC</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Motor_HallState</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Motor_dutyCycle</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Status</Name>
+							<Comment><![CDATA[ Motor 2 //]]></Comment>
 							<Type>BYTE</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.act_pos</Name>
+							<Name>GVL_motor_data.M2_Mode</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Joint_rel_position</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.PH_A</Name>
+							<Name>GVL_motor_data.M2_Joint_abs_position</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.PH_B</Name>
+							<Name>GVL_motor_data.M2_Motor_speed</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.PH_C</Name>
+							<Name>GVL_motor_data.M2_Motor_current_bus</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.Error</Name>
+							<Name>GVL_motor_data.M2_Motor_currentPhA</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.Phase_Current</Name>
+							<Name>GVL_motor_data.M2_Motor_currentPhB</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.Speed</Name>
+							<Name>GVL_motor_data.M2_Motor_currentPhC</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.Duty</Name>
+							<Name>GVL_motor_data.M2_Motor_HallState</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Motor_dutyCycle</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH1</Name>
+							<Comment><![CDATA[ EMG //]]></Comment>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH2</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH3</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH4</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH5</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH6</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH7</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.EMG_CH8</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Status</Name>
+							<Comment><![CDATA[ Motor 3 //]]></Comment>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Mode</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Joint_rel_position</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Joint_abs_position</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Motor_speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Motor_current_bus</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Motor_currentPhA</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Motor_currentPhB</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Motor_currentPhC</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Motor_HallState</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Motor_dutyCycle</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Status</Name>
+							<Comment><![CDATA[ Motor 4//]]></Comment>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Mode</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Joint_rel_position</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Joint_abs_position</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Motor_speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Motor_current_bus</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Motor_currentPhA</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Motor_currentPhB</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Motor_currentPhC</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Motor_HallState</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Motor_dutyCycle</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.q_x0</Name>
+							<Comment><![CDATA[ IMU //]]></Comment>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.q_y0</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.q_z0</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.q_w0</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.FSR_CH1</Name>
+							<Comment><![CDATA[ EMG //]]></Comment>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.FSR_CH2</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.FSR_CH3</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.FSR_CH4</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.FSR_CH5</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Pressure_CH1</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Pressure_CH2</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Pressure_CH3</Name>
 							<Type>INT</Type>
 						</Var>
 					</Vars>
 					<Vars VarGrpType="2" AreaNo="1">
 						<Name>PlcTask Outputs</Name>
 						<Var>
-							<Name>GVL_motor_data.op_Mode</Name>
-							<Comment><![CDATA[ Output ]]></Comment>
+							<Name>GVL_motor_data.M1_Control_mode</Name>
+							<Comment><![CDATA[Read From Ecat Total (XX Bytes)
+QSPI_rx_buffer
+ Motor 1 //]]></Comment>
 							<Type>BYTE</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.des_pos</Name>
+							<Name>GVL_motor_data.M1_Control_set</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Control_mode</Name>
+							<Comment><![CDATA[* Motor 2*/]]></Comment>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Control_set</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Control_mode</Name>
+							<Comment><![CDATA[* Motor 3*/]]></Comment>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Control_set</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Control_mode</Name>
+							<Comment><![CDATA[* Motor 4*/]]></Comment>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Control_set</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M1_Desired_pos</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.des_max_current</Name>
+							<Name>GVL_motor_data.M1_Desired_speed</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.des_current</Name>
+							<Name>GVL_motor_data.M1_Desired_current</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.des_speed</Name>
+							<Name>GVL_motor_data.M1_Max_pos</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.I_kp</Name>
+							<Name>GVL_motor_data.M1_Max_velocity</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.I_ki</Name>
+							<Name>GVL_motor_data.M1_Max_current</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.V_kp</Name>
+							<Name>GVL_motor_data.M1_Desired_dc</Name>
 							<Type>INT</Type>
 						</Var>
 						<Var>
-							<Name>GVL_motor_data.V_kd</Name>
+							<Name>GVL_motor_data.M2_Desired_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Desired_speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Desired_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Max_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Max_velocity</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Max_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M2_Desired_dc</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Desired_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Desired_speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Desired_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Max_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Max_velocity</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Max_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M3_Desired_dc</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Desired_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Desired_speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Desired_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Max_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Max_velocity</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Max_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.M4_Desired_dc</Name>
 							<Type>INT</Type>
 						</Var>
 					</Vars>
@@ -122,13 +453,13 @@
 			</Project>
 		</Plc>
 		<Io>
-			<Device Id="2" DevType="111" DevFlags="#x0003" AmsPort="28674" AmsNetId="192.168.61.1.3.1" RemoteName="Device 2 (EtherCAT)">
+			<Device Id="2" DevType="111" DevFlags="#x0003" AmsPort="28674" AmsNetId="10.183.82.252.3.1" RemoteName="Device 2 (EtherCAT)">
 				<Name>Device 2 (EtherCAT)</Name>
 				<AddressInfo>
 					<Pnp>
-						<DeviceDesc>Ethernet (TwinCAT-Intel PCI Ethernet Adapter (Gigab</DeviceDesc>
-						<DeviceName>\DEVICE\{B319FB6B-ED15-445B-9318-290BECEEFA76}</DeviceName>
-						<DeviceData>4c5262a1d9ac</DeviceData>
+						<DeviceDesc>Ethernet (Realtek PCIe GbE Family Controller)</DeviceDesc>
+						<DeviceName>\DEVICE\{7A5E866B-9C27-4C9A-AB1A-3FD2FE6A43CC}</DeviceName>
+						<DeviceData>b025aa33135b</DeviceData>
 					</Pnp>
 				</AddressInfo>
 				<Image Id="1" AddrType="9" ImageType="3">
@@ -143,7 +474,7 @@
 						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
 						<Fmmu>0000000000000000001800010100000002000000000000000000000000000000</Fmmu>
 						<Pdo Name="MCU2ECAT" Index="#x1600" Flags="#x0010" SyncMan="1">
-							<Entry Name="M1__status" Index="#x3001" Sub="#x01">
+							<Entry Name="M1__status" Index="#x3001" Sub="#x01" Flags="#x00008020">
 								<Type>BYTE</Type>
 							</Entry>
 							<Entry Name="M1__mode" Index="#x3002" Sub="#x01">
@@ -349,13 +680,13 @@
 							</Entry>
 						</Pdo>
 						<Pdo Name="ECAT2MCU" Index="#x1a00" InOut="1" Flags="#x0010" SyncMan="0">
-							<Entry Name="M1__control_mode" Index="#x3101" Sub="#x01">
+							<Entry Name="M1__control_mode" Index="#x3101" Sub="#x01" Flags="#x00008020">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M1__control_set" Index="#x3102" Sub="#x01">
+							<Entry Name="M1__control_set" Index="#x3102" Sub="#x01" Flags="#x00008020">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M1__desired_position" Index="#x3103" Sub="#x01">
+							<Entry Name="M1__desired_position" Index="#x3103" Sub="#x01" Flags="#x00008020">
 								<Type>INT</Type>
 							</Entry>
 							<Entry Name="M1__desired_speed" Index="#x3104" Sub="#x01">
@@ -512,4 +843,33 @@
 			</Device>
 		</Io>
 	</Project>
+	<Mappings>
+		<MappingInfo Identifier="{00000000-2001-0850-0020-500810000403}" Id="#x02030010"/>
+		<OwnerA Name="TIPC^Motordata_PLC^Motordata_PLC Instance">
+			<OwnerB Name="TIID^Device 2 (EtherCAT)^Box 1 (LAN9252-2_motor_Master)">
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Joint_rel_position" VarB="MCU2ECAT^M1^Joint_rel_position"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Mode" VarB="MCU2ECAT^M1^mode"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_HallState" VarB="MCU2ECAT^M1^Motor_hallState"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_currentPhA" VarB="MCU2ECAT^M1^Motor_currentPhA"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_currentPhB" VarB="MCU2ECAT^M1^Motor_currentPhB"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_currentPhC" VarB="MCU2ECAT^M1^Motor_currentPhC"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_current_bus" VarB="MCU2ECAT^M1^Motor_current_bus"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_dutyCycle" VarB="MCU2ECAT^M1^Motor_dutyCycle"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_speed" VarB="MCU2ECAT^M1^Motor_speed"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Status" VarB="MCU2ECAT^M1^status"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Joint_rel_position" VarB="MCU2ECAT^M2^Joint__rel_position"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Mode" VarB="MCU2ECAT^M2^mode"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_HallState" VarB="MCU2ECAT^M2^Motor_hallState"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_currentPhA" VarB="MCU2ECAT^M2^Motor_currentPhA"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_currentPhB" VarB="MCU2ECAT^M2^Motor_currentPhB"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_currentPhC" VarB="MCU2ECAT^M2^Motor_currentPhC"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_current_bus" VarB="MCU2ECAT^M2^Motor_current_bus"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_dutyCycle" VarB="MCU2ECAT^M2^Motor_dutyCycle"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_speed" VarB="MCU2ECAT^M2^Motor_speed"/>
+				<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Status" VarB="MCU2ECAT^M2^status"/>
+				<Link VarA="PlcTask Outputs^GVL_motor_data.M1_Desired_pos" VarB="ECAT2MCU^M1^desired_position"/>
+				<Link VarA="PlcTask Outputs^GVL_motor_data.M2_Desired_pos" VarB="ECAT2MCU^M2^desired_position"/>
+			</OwnerB>
+		</OwnerA>
+	</Mappings>
 </TcSmProject>
diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL b/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL
index ec6f260..d2bacb5 100644
--- a/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL
+++ b/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL
@@ -1,31 +1,132 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.6">
   <GVL Name="GVL_motor_data" Id="{f1f9826e-bbc5-4781-8d1a-d97243969113}">
     <Declaration><![CDATA[{attribute 'qualified_only'}
 VAR_GLOBAL
-// Output 
-	op_Mode AT %Q* : BYTE := 1; 
-	des_pos  AT %Q* : INT;
-	des_max_current  AT %Q* : INT := 100; 
-	des_current  AT %Q* : INT := 100; 
-	des_speed  AT %Q* : INT := 1000; 
-	I_kp AT %Q* : INT := 1;
-	I_ki AT %Q* : INT := 10;
-	V_kp AT %Q* : INT := 1;
-	V_kd AT %Q* : INT := 10;
+// Motor 1 //
+M1_Status				AT %I* : BYTE;
+M1_Mode					AT %I* : BYTE;
+M1_Joint_rel_position	AT %I* : INT;
+M1_Joint_abs_position	AT %I* : INT;
+M1_Motor_speed			AT %I* : INT;
+M1_Motor_current_bus	AT %I* : INT;
+M1_Motor_currentPhA		AT %I* : INT;
+M1_Motor_currentPhB		AT %I* : INT;
+M1_Motor_currentPhC		AT %I* : INT;
+M1_Motor_HallState		AT %I* : INT;
+M1_Motor_dutyCycle		AT %I* : INT;
+
+// Motor 2 //
+M2_Status				AT %I* : BYTE;
+M2_Mode					AT %I* : BYTE;
+M2_Joint_rel_position	AT %I* : INT;
+M2_Joint_abs_position	AT %I* : INT;
+M2_Motor_speed			AT %I* : INT;
+M2_Motor_current_bus	AT %I* : INT;
+M2_Motor_currentPhA		AT %I* : INT;
+M2_Motor_currentPhB		AT %I* : INT;
+M2_Motor_currentPhC		AT %I* : INT;
+M2_Motor_HallState		AT %I* : INT;
+M2_Motor_dutyCycle		AT %I* : INT;
+
+// EMG //
+EMG_CH1					AT %I* : INT;
+EMG_CH2					AT %I* : INT;
+EMG_CH3					AT %I* : INT;
+EMG_CH4					AT %I* : INT;
+EMG_CH5					AT %I* : INT;
+EMG_CH6					AT %I* : INT;
+EMG_CH7					AT %I* : INT;
+EMG_CH8					AT %I* : INT;
+
+// Motor 3 //
+M3_Status				AT %I* : BYTE;
+M3_Mode					AT %I* : BYTE;
+M3_Joint_rel_position	AT %I* : INT;
+M3_Joint_abs_position	AT %I* : INT;
+M3_Motor_speed			AT %I* : INT;
+M3_Motor_current_bus	AT %I* : INT;
+M3_Motor_currentPhA		AT %I* : INT;
+M3_Motor_currentPhB		AT %I* : INT;
+M3_Motor_currentPhC		AT %I* : INT;
+M3_Motor_HallState		AT %I* : INT;
+M3_Motor_dutyCycle		AT %I* : INT;
+
+// Motor 4//
+M4_Status				AT %I* : BYTE;
+M4_Mode					AT %I* : BYTE;
+M4_Joint_rel_position	AT %I* : INT;
+M4_Joint_abs_position	AT %I* : INT;
+M4_Motor_speed			AT %I* : INT;
+M4_Motor_current_bus	AT %I* : INT;
+M4_Motor_currentPhA		AT %I* : INT;
+M4_Motor_currentPhB		AT %I* : INT;
+M4_Motor_currentPhC		AT %I* : INT;
+M4_Motor_HallState		AT %I* : INT;
+M4_Motor_dutyCycle		AT %I* : INT;
+
+
+// IMU //
+q_x0					AT %I* : INT;
+q_y0					AT %I* : INT;
+q_z0			   		AT %I* : INT;
+q_w0			   		AT %I* : INT;
+// EMG //
+FSR_CH1					AT %I* : INT;
+FSR_CH2					AT %I* : INT;
+FSR_CH3					AT %I* : INT;
+FSR_CH4					AT %I* : INT;
+FSR_CH5					AT %I* : INT;
+Pressure_CH1			AT %I* : INT;
+Pressure_CH2			AT %I* : INT;
+Pressure_CH3			AT %I* : INT;
+
+//Read From Ecat Total (XX Bytes)
+//QSPI_rx_buffer
+// Motor 1 //
+M1_Control_mode			AT %Q* : BYTE := 0;
+M1_Control_set			AT %Q* : BYTE := 0;
+M1_Desired_pos			AT %Q* : INT  := 0;
+M1_Desired_speed		AT %Q* : INT  := 0;
+M1_Desired_current		AT %Q* : INT  := 0;
+M1_Max_pos				AT %Q* : INT  := 0;
+M1_Max_velocity			AT %Q* : INT  := 0;
+M1_Max_current			AT %Q* : INT  := 0;
+M1_Desired_dc			AT %Q* : INT  := 0;
+
+///* Motor 2*/
+M2_Control_mode			AT %Q* : BYTE := 0;
+M2_Control_set			AT %Q* : BYTE := 0;
+M2_Desired_pos			AT %Q* : INT  := 0;
+M2_Desired_speed		AT %Q* : INT  := 0;
+M2_Desired_current		AT %Q* : INT  := 0;
+M2_Max_pos				AT %Q* : INT  := 0;
+M2_Max_velocity			AT %Q* : INT  := 0;
+M2_Max_current			AT %Q* : INT  := 0;
+M2_Desired_dc			AT %Q* : INT  := 0;
+
+///* Motor 3*/
+M3_Control_mode			AT %Q* : BYTE := 0;
+M3_Control_set			AT %Q* : BYTE := 0;
+M3_Desired_pos			AT %Q* : INT  := 0;
+M3_Desired_speed		AT %Q* : INT  := 0;
+M3_Desired_current		AT %Q* : INT  := 0;
+M3_Max_pos				AT %Q* : INT  := 0;
+M3_Max_velocity			AT %Q* : INT  := 0;
+M3_Max_current			AT %Q* : INT  := 0;
+M3_Desired_dc			AT %Q* : INT  := 0;
+///* Motor 4*/
+M4_Control_mode			AT %Q* : BYTE := 0;
+M4_Control_set			AT %Q* : BYTE := 0;
+M4_Desired_pos			AT %Q* : INT  := 0;
+M4_Desired_speed		AT %Q* : INT  := 0;
+M4_Desired_current		AT %Q* : INT  := 0;
+M4_Max_pos				AT %Q* : INT  := 0;
+M4_Max_velocity			AT %Q* : INT  := 0;
+M4_Max_current			AT %Q* : INT  := 0;
+M4_Desired_dc			AT %Q* : INT  := 0;
+	
 	
-	// Input 
-	Status AT %I* : BYTE;
-	Mode AT %I* : BYTE;
-	Com_State  AT %I* : BYTE;
-	act_pos  AT %I* : INT;
-	PH_A  AT %I* : INT;
-	PH_B  AT %I* : INT;
-	PH_C  AT %I* : INT;
-	Error  AT %I* : INT;
-	Phase_Current AT %I* : INT;
-	Speed AT %I* : INT;
-	Duty AT %I* : INT;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>
\ No newline at end of file
diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/Motordata_PLC.plcproj b/Twincat/MotorData/MotorData/Motordata_PLC/Motordata_PLC.plcproj
index 32ccfde..2103f83 100644
--- a/Twincat/MotorData/MotorData/Motordata_PLC/Motordata_PLC.plcproj
+++ b/Twincat/MotorData/MotorData/Motordata_PLC/Motordata_PLC.plcproj
@@ -27,6 +27,9 @@
     <Compile Include="POUs\MAIN.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\POU_Position_Seq.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
   </ItemGroup>
   <ItemGroup>
     <Folder Include="DUTs" />
@@ -56,19 +59,19 @@
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>
-  <Data>
-    <o xml:space="preserve" t="OptionKey">
+        <Data>
+          <o xml:space="preserve" t="OptionKey">
       <v n="Name">"&lt;ProjectRoot&gt;"</v>
       <d n="SubKeys" t="Hashtable" />
       <d n="Values" t="Hashtable" />
     </o>
-  </Data>
-  <TypeList>
-    <Type n="Hashtable">System.Collections.Hashtable</Type>
-    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-    <Type n="String">System.String</Type>
-  </TypeList>
-</XmlArchive>
+        </Data>
+        <TypeList>
+          <Type n="Hashtable">System.Collections.Hashtable</Type>
+          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+          <Type n="String">System.String</Type>
+        </TypeList>
+      </XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>
\ No newline at end of file
diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU
index 9e1ec61..ec02da2 100644
--- a/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU
+++ b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU
@@ -1,13 +1,15 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <POU Name="MAIN" Id="{bea1ccef-eacb-4a24-8635-6fbb784e4a5d}">
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.6">
+  <POU Name="MAIN" Id="{bea1ccef-eacb-4a24-8635-6fbb784e4a5d}" SpecialFunc="None">
     <Declaration><![CDATA[PROGRAM MAIN
 VAR
 END_VAR
-]]>
-    </Declaration>
+]]></Declaration>
     <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[POU_Position_Seq();]]></ST>
     </Implementation>
+    <LineIds Name="MAIN">
+      <LineId Id="2" Count="0" />
+    </LineIds>
   </POU>
 </TcPlcObject>
\ No newline at end of file
diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/POUs/POU_Position_Seq.TcPOU b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/POU_Position_Seq.TcPOU
new file mode 100644
index 0000000..c1f6007
--- /dev/null
+++ b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/POU_Position_Seq.TcPOU
@@ -0,0 +1,1239 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.6">
+  <POU Name="POU_Position_Seq" Id="{2042500d-93f5-4691-917f-6cc51b024d44}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM POU_Position_Seq
+VAR
+
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <SFC>
+        <XmlArchive>
+          <Data>
+            <o xml:space="preserve" t="SFCImplementationObject">
+              <o n="Root" t="SFCSegment">
+                <o n="ElementList" t="SFCElementList">
+                  <l2 n="InnerList">
+                    <o t="SFCStep">
+                      <n n="EmbeddedMainAction" />
+                      <n n="EmbeddedEntryAction" />
+                      <n n="EmbeddedExitAction" />
+                      <l2 n="EmbeddedMainActionProperties" />
+                      <l2 n="EmbeddedEntryActionProperties" />
+                      <l2 n="EmbeddedExitActionProperties" />
+                      <o n="ElementList" t="SFCElementList">
+                        <l2 n="InnerList" />
+                      </o>
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"Init"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">7L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">8L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">9L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">10L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{6844a48e-46c2-4cc8-a185-a478f3b99cc0}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"TRUE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">11L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">12L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{cacf1a68-236e-47c2-b7b1-1cf9199718cb}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">13L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{b693554c-1b01-4a8d-afde-9e3a46f7465d}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">14L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{700a583f-b4d4-43e4-8c14-629c7cd3bec8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">15L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a6b08bd8-b696-47e3-9cbf-7408b61c9ff8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">16L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a2621e18-7de3-4ea6-ae6d-89e9e0b7befd}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">17L</v>
+                          <v n="IdParent">6L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">6L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCTransition">
+                      <v n="VariableName">"Init__to__POS_1"</v>
+                      <n n="EmbeddedTransition" />
+                      <l2 n="EmbeddedTransitionProperties" />
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"TRUE"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">19L</v>
+                          <v n="IdParent">18L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">20L</v>
+                          <v n="IdParent">18L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">21L</v>
+                          <v n="IdParent">18L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">22L</v>
+                          <v n="IdParent">18L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">23L</v>
+                          <v n="IdParent">18L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{8294df19-5962-4dee-a874-1051dabb0e3e}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{6ecff51c-9b8f-4338-aab0-67c2b31b07e9}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">24L</v>
+                          <v n="IdParent">18L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">18L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCStep">
+                      <n n="EmbeddedMainAction" />
+                      <n n="EmbeddedEntryAction" />
+                      <n n="EmbeddedExitAction" />
+                      <l2 n="EmbeddedMainActionProperties" />
+                      <l2 n="EmbeddedEntryActionProperties" />
+                      <l2 n="EmbeddedExitActionProperties" />
+                      <o n="ElementList" t="SFCElementList">
+                        <l2 n="InnerList" />
+                      </o>
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"POS_1"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">56L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">57L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">58L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">59L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{6844a48e-46c2-4cc8-a185-a478f3b99cc0}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">60L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">61L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{cacf1a68-236e-47c2-b7b1-1cf9199718cb}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">62L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{b693554c-1b01-4a8d-afde-9e3a46f7465d}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">63L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{700a583f-b4d4-43e4-8c14-629c7cd3bec8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">64L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a6b08bd8-b696-47e3-9cbf-7408b61c9ff8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"_aPOS_1_entry"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">65L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a2621e18-7de3-4ea6-ae6d-89e9e0b7befd}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">66L</v>
+                          <v n="IdParent">55L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">55L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCTransition">
+                      <v n="VariableName">"POS_1__to__POS_2"</v>
+                      <n n="EmbeddedTransition" />
+                      <l2 n="EmbeddedTransitionProperties" />
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"POS_1.t &gt; T#6s"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">80L</v>
+                          <v n="IdParent">79L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">81L</v>
+                          <v n="IdParent">79L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">82L</v>
+                          <v n="IdParent">79L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">83L</v>
+                          <v n="IdParent">79L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">84L</v>
+                          <v n="IdParent">79L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{8294df19-5962-4dee-a874-1051dabb0e3e}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{6ecff51c-9b8f-4338-aab0-67c2b31b07e9}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">85L</v>
+                          <v n="IdParent">79L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">79L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCStep">
+                      <n n="EmbeddedMainAction" />
+                      <n n="EmbeddedEntryAction" />
+                      <n n="EmbeddedExitAction" />
+                      <l2 n="EmbeddedMainActionProperties" />
+                      <l2 n="EmbeddedEntryActionProperties" />
+                      <l2 n="EmbeddedExitActionProperties" />
+                      <o n="ElementList" t="SFCElementList">
+                        <l2 n="InnerList" />
+                      </o>
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"POS_2"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">68L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">69L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">70L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">71L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{6844a48e-46c2-4cc8-a185-a478f3b99cc0}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">72L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">73L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{cacf1a68-236e-47c2-b7b1-1cf9199718cb}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">74L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{b693554c-1b01-4a8d-afde-9e3a46f7465d}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">75L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{700a583f-b4d4-43e4-8c14-629c7cd3bec8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">76L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a6b08bd8-b696-47e3-9cbf-7408b61c9ff8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"_aPOS_2_entry"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">77L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a2621e18-7de3-4ea6-ae6d-89e9e0b7befd}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">78L</v>
+                          <v n="IdParent">67L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">67L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCTransition">
+                      <v n="VariableName">"POS_2__to__POS_3"</v>
+                      <n n="EmbeddedTransition" />
+                      <l2 n="EmbeddedTransitionProperties" />
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"POS_2.t &gt; T#6s"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">125L</v>
+                          <v n="IdParent">124L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">126L</v>
+                          <v n="IdParent">124L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">127L</v>
+                          <v n="IdParent">124L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">128L</v>
+                          <v n="IdParent">124L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">129L</v>
+                          <v n="IdParent">124L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{8294df19-5962-4dee-a874-1051dabb0e3e}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{6ecff51c-9b8f-4338-aab0-67c2b31b07e9}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">130L</v>
+                          <v n="IdParent">124L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">124L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCStep">
+                      <n n="EmbeddedMainAction" />
+                      <n n="EmbeddedEntryAction" />
+                      <n n="EmbeddedExitAction" />
+                      <l2 n="EmbeddedMainActionProperties" />
+                      <l2 n="EmbeddedEntryActionProperties" />
+                      <l2 n="EmbeddedExitActionProperties" />
+                      <o n="ElementList" t="SFCElementList">
+                        <l2 n="InnerList" />
+                      </o>
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"POS_3"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">132L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">133L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">134L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">135L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{6844a48e-46c2-4cc8-a185-a478f3b99cc0}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">136L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">137L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{cacf1a68-236e-47c2-b7b1-1cf9199718cb}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">138L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{b693554c-1b01-4a8d-afde-9e3a46f7465d}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">139L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{700a583f-b4d4-43e4-8c14-629c7cd3bec8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">140L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a6b08bd8-b696-47e3-9cbf-7408b61c9ff8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"_aPOS_3_entry"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">141L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{a2621e18-7de3-4ea6-ae6d-89e9e0b7befd}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">142L</v>
+                          <v n="IdParent">131L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">131L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCTransition">
+                      <v n="VariableName">"POS_3__to__POS_1"</v>
+                      <n n="EmbeddedTransition" />
+                      <l2 n="EmbeddedTransitionProperties" />
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"POS_3.t &gt; T#6s"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">49L</v>
+                          <v n="IdParent">48L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">50L</v>
+                          <v n="IdParent">48L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">51L</v>
+                          <v n="IdParent">48L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">52L</v>
+                          <v n="IdParent">48L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">53L</v>
+                          <v n="IdParent">48L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{8294df19-5962-4dee-a874-1051dabb0e3e}</v>
+                          <o n="Value" t="EnumValue">
+                            <v n="TemplateGuid">{6ecff51c-9b8f-4338-aab0-67c2b31b07e9}</v>
+                            <n n="BaseType" />
+                            <v n="Value">"0"</v>
+                            <v n="DefaultValue">"0"</v>
+                          </o>
+                          <v n="Id">54L</v>
+                          <v n="IdParent">48L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">48L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                    <o t="SFCJump">
+                      <l2 n="Attributes" cet="SFCAttribute">
+                        <o>
+                          <v n="AttributeId">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">"POS_1"</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">26L</v>
+                          <v n="IdParent">25L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                          <o n="Value" t="StringValue">
+                            <v n="Value">""</v>
+                            <v n="DefaultValue">""</v>
+                          </o>
+                          <v n="Id">27L</v>
+                          <v n="IdParent">25L</v>
+                        </o>
+                        <o>
+                          <v n="AttributeId">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                          <o n="Value" t="BoolValue">
+                            <v n="Value">"FALSE"</v>
+                            <v n="DefaultValue">"FALSE"</v>
+                          </o>
+                          <v n="Id">28L</v>
+                          <v n="IdParent">25L</v>
+                        </o>
+                      </l2>
+                      <v n="Id">25L</v>
+                      <v n="IdParent">5L</v>
+                    </o>
+                  </l2>
+                </o>
+                <l2 n="Attributes" />
+                <v n="Id">5L</v>
+                <v n="IdParent">-1L</v>
+              </o>
+              <d2 n="Categories" ckt="Guid" cvt="SFCAttributeCategory">
+                <v>6f37ae05-4d8f-4ddc-9e69-c0e6bd6962c2</v>
+                <o>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{6f37ae05-4d8f-4ddc-9e69-c0e6bd6962c2}</v>
+                  <v n="Identifier">"Common"</v>
+                  <v n="Parent">{00000000-0000-0000-0000-000000000000}</v>
+                  <v n="Description">"Common properties"</v>
+                </o>
+                <v>1c5c6e05-2bb7-4258-bcee-fd16a540c63c</v>
+                <o>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Identifier">"Specific"</v>
+                  <v n="Parent">{00000000-0000-0000-0000-000000000000}</v>
+                  <v n="Description">"Element type specific properties"</v>
+                </o>
+                <v>d336ba06-8a67-4e6b-9697-50f83ba6bdde</v>
+                <o>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{d336ba06-8a67-4e6b-9697-50f83ba6bdde}</v>
+                  <v n="Identifier">"Times"</v>
+                  <v n="Parent">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Description">"Time definitions"</v>
+                </o>
+                <v>20f0fc67-978d-438b-979f-eef294f34ee4</v>
+                <o>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{20f0fc67-978d-438b-979f-eef294f34ee4}</v>
+                  <v n="Identifier">"Actions"</v>
+                  <v n="Parent">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Description">"Action definitions"</v>
+                </o>
+              </d2>
+              <d2 n="Attributes" ckt="Guid" cvt="SFCAttributeDescription">
+                <v>38391c6d-6d4a-42f8-8ee7-9f45e5adafa8</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">false</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{38391c6d-6d4a-42f8-8ee7-9f45e5adafa8}</v>
+                  <v n="Identifier">"Name"</v>
+                  <v n="Parent">{6f37ae05-4d8f-4ddc-9e69-c0e6bd6962c2}</v>
+                  <v n="Description">"Name of the element"</v>
+                </o>
+                <v>7d894980-aeea-405c-a0f6-e2b26429c58f</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">true</v>
+                  <v n="MultiLineEdit">true</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{7d894980-aeea-405c-a0f6-e2b26429c58f}</v>
+                  <v n="Identifier">"Comment"</v>
+                  <v n="Parent">{6f37ae05-4d8f-4ddc-9e69-c0e6bd6962c2}</v>
+                  <v n="Description">"Comment of the element"</v>
+                </o>
+                <v>01580b27-6378-448b-8ecb-0e4b795b58d6</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">true</v>
+                  <v n="EditorVisibility">false</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{01580b27-6378-448b-8ecb-0e4b795b58d6}</v>
+                  <v n="Identifier">"Exclude"</v>
+                  <v n="Parent">{6f37ae05-4d8f-4ddc-9e69-c0e6bd6962c2}</v>
+                  <v n="Description">"Exclude this element from build"</v>
+                </o>
+                <v>bc882c11-1e91-4dd8-a6b8-2075724ed18b</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">true</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{bc882c11-1e91-4dd8-a6b8-2075724ed18b}</v>
+                  <v n="Identifier">"Symbol"</v>
+                  <v n="Parent">{6f37ae05-4d8f-4ddc-9e69-c0e6bd6962c2}</v>
+                  <v n="Description">"Symbol configuration setting of the element"</v>
+                </o>
+                <v>e174fc0d-80b0-4a9e-a530-ca239c249a50</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">false</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{e174fc0d-80b0-4a9e-a530-ca239c249a50}</v>
+                  <v n="Identifier">"Qualifier"</v>
+                  <v n="Parent">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Description">"Qualifier of the action association"</v>
+                </o>
+                <v>6844a48e-46c2-4cc8-a185-a478f3b99cc0</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">false</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{6844a48e-46c2-4cc8-a185-a478f3b99cc0}</v>
+                  <v n="Identifier">"InitStep"</v>
+                  <v n="Parent">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Description">"Sets the step as the initial step"</v>
+                </o>
+                <v>23bdaa98-72ec-41f7-817b-9dede5697086</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">false</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{23bdaa98-72ec-41f7-817b-9dede5697086}</v>
+                  <v n="Identifier">"Parallel"</v>
+                  <v n="Parent">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Description">"Sets the branch to parallel mode"</v>
+                </o>
+                <v>cacf1a68-236e-47c2-b7b1-1cf9199718cb</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">true</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{cacf1a68-236e-47c2-b7b1-1cf9199718cb}</v>
+                  <v n="Identifier">"MinTime"</v>
+                  <v n="Parent">{d336ba06-8a67-4e6b-9697-50f83ba6bdde}</v>
+                  <v n="Description">"Defines the minimal active time for the step"</v>
+                </o>
+                <v>b693554c-1b01-4a8d-afde-9e3a46f7465d</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">true</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{b693554c-1b01-4a8d-afde-9e3a46f7465d}</v>
+                  <v n="Identifier">"MaxTime"</v>
+                  <v n="Parent">{d336ba06-8a67-4e6b-9697-50f83ba6bdde}</v>
+                  <v n="Description">"Defines the maximal active time for the step"</v>
+                </o>
+                <v>62e1754b-7629-4e63-9cec-10ae0c536f1f</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">false</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{62e1754b-7629-4e63-9cec-10ae0c536f1f}</v>
+                  <v n="Identifier">"Duplication"</v>
+                  <v n="Parent">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Description">"Copies the implementation of step actions or transitions with the element. Otherwise, copies the reference to an existing implementation."</v>
+                </o>
+                <v>8294df19-5962-4dee-a874-1051dabb0e3e</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">false</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{8294df19-5962-4dee-a874-1051dabb0e3e}</v>
+                  <v n="Identifier">"Monitoring"</v>
+                  <v n="Parent">{1c5c6e05-2bb7-4258-bcee-fd16a540c63c}</v>
+                  <v n="Description">"Indicates transition monitoring setting."</v>
+                </o>
+                <v>700a583f-b4d4-43e4-8c14-629c7cd3bec8</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">true</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{700a583f-b4d4-43e4-8c14-629c7cd3bec8}</v>
+                  <v n="Identifier">"MainAction"</v>
+                  <v n="Parent">{20f0fc67-978d-438b-979f-eef294f34ee4}</v>
+                  <v n="Description">"Name of the action to be called if the step is active"</v>
+                </o>
+                <v>a6b08bd8-b696-47e3-9cbf-7408b61c9ff8</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">true</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{a6b08bd8-b696-47e3-9cbf-7408b61c9ff8}</v>
+                  <v n="Identifier">"EntryAction"</v>
+                  <v n="Parent">{20f0fc67-978d-438b-979f-eef294f34ee4}</v>
+                  <v n="Description">"Name of the action to be called if the step is activated"</v>
+                </o>
+                <v>a2621e18-7de3-4ea6-ae6d-89e9e0b7befd</v>
+                <o>
+                  <v n="ReadOnly">false</v>
+                  <v n="Hidden">false</v>
+                  <v n="EditorVisibility">true</v>
+                  <v n="MultiLineEdit">false</v>
+                  <v n="Factory">{11e03a9d-fc7b-4112-850c-ae33fb04a2b4}</v>
+                  <v n="Id">{a2621e18-7de3-4ea6-ae6d-89e9e0b7befd}</v>
+                  <v n="Identifier">"ExitAction"</v>
+                  <v n="Parent">{20f0fc67-978d-438b-979f-eef294f34ee4}</v>
+                  <v n="Description">"Name of the action to be called if the step is deactivated"</v>
+                </o>
+              </d2>
+              <d2 n="EnumTemplates" ckt="Guid" cvt="EnumValueTemplate">
+                <v>79a4fdd5-c859-4de4-aa8d-c03372c880c2</v>
+                <o>
+                  <v n="TemplateGuid">{79a4fdd5-c859-4de4-aa8d-c03372c880c2}</v>
+                  <l n="Values" t="ArrayList" cet="EnumEntry">
+                    <o>
+                      <v n="Identifier">"Unspecified"</v>
+                      <v n="Value">0L</v>
+                      <v n="Key">"Unspecified"</v>
+                    </o>
+                    <o>
+                      <v n="Identifier">"None"</v>
+                      <v n="Value">1L</v>
+                      <v n="Key">"None"</v>
+                    </o>
+                    <o>
+                      <v n="Identifier">"Read"</v>
+                      <v n="Value">2L</v>
+                      <v n="Key">"Read"</v>
+                    </o>
+                    <o>
+                      <v n="Identifier">"Write"</v>
+                      <v n="Value">3L</v>
+                      <v n="Key">"Write"</v>
+                    </o>
+                    <o>
+                      <v n="Identifier">"ReadWrite"</v>
+                      <v n="Value">4L</v>
+                      <v n="Key">"ReadWrite"</v>
+                    </o>
+                  </l>
+                  <v n="BaseType">"INT"</v>
+                </o>
+                <v>6ecff51c-9b8f-4338-aab0-67c2b31b07e9</v>
+                <o>
+                  <v n="TemplateGuid">{6ecff51c-9b8f-4338-aab0-67c2b31b07e9}</v>
+                  <l n="Values" t="ArrayList" cet="EnumEntry">
+                    <o>
+                      <v n="Identifier">"None"</v>
+                      <v n="Value">0L</v>
+                      <v n="Key">"None"</v>
+                    </o>
+                    <o>
+                      <v n="Identifier">"Variable"</v>
+                      <v n="Value">1L</v>
+                      <v n="Key">"Variable"</v>
+                    </o>
+                    <o>
+                      <v n="Identifier">"Call"</v>
+                      <v n="Value">2L</v>
+                      <v n="Key">"Call"</v>
+                    </o>
+                  </l>
+                  <v n="BaseType">"INT"</v>
+                </o>
+              </d2>
+            </o>
+          </Data>
+          <TypeList>
+            <Type n="ArrayList">System.Collections.ArrayList</Type>
+            <Type n="Boolean">System.Boolean</Type>
+            <Type n="BoolValue">{89e1c7bb-c9f8-4be3-b8a7-019cdbb9f7e8}</Type>
+            <Type n="EnumEntry">{4185e6da-1717-44c9-b705-102861764479}</Type>
+            <Type n="EnumValue">{4dd7572b-4b9d-4d35-963e-6a34a4aaa5c1}</Type>
+            <Type n="EnumValueTemplate">{d6bfe4f0-d62f-4b5f-9f95-2bbeb1950e28}</Type>
+            <Type n="Guid">System.Guid</Type>
+            <Type n="Int64">System.Int64</Type>
+            <Type n="SFCAttribute">{21f3f16e-04fa-4637-b6b7-d84e4192e99f}</Type>
+            <Type n="SFCAttributeCategory">{679adacf-f2a4-4167-a3f7-d21cfc5d451f}</Type>
+            <Type n="SFCAttributeDescription">{d851789d-af2c-4990-9d48-a7bdc9181773}</Type>
+            <Type n="SFCElementList">{587d6556-cfe6-4e76-9cc9-fc0daf0c8c29}</Type>
+            <Type n="SFCImplementationObject">{74f81948-1328-492c-b6c1-a9ea72048b28}</Type>
+            <Type n="SFCJump">{7e39ac27-154f-419a-a255-6a6cf37d5ed0}</Type>
+            <Type n="SFCSegment">{f1db7f6f-4774-46a6-ad9b-a94414f875fc}</Type>
+            <Type n="SFCStep">{86ee92a2-d863-4136-be27-82b36d84211c}</Type>
+            <Type n="SFCTransition">{4ecb29e8-a90a-4646-84ac-2ff54215ab29}</Type>
+            <Type n="String">System.String</Type>
+            <Type n="StringValue">{778c8bac-3fa0-41e1-99d3-2b628d12d3e5}</Type>
+          </TypeList>
+        </XmlArchive>
+      </SFC>
+    </Implementation>
+    <Action Name="_aPOS_1_entry" Id="{0ae03264-b28c-44bd-9cfc-1102ae68301e}">
+      <Implementation>
+        <ST><![CDATA[GVL_motor_data.M1_Desired_pos := 800;
+GVL_motor_data.M2_Desired_pos := 1000;]]></ST>
+      </Implementation>
+      <ObjectProperties>
+        <XmlArchive>
+          <Data>
+            <o xml:space="preserve" t="ActionObjectDuplicationModeProperty">
+              <v n="Embedded">true</v>
+            </o>
+          </Data>
+          <TypeList>
+            <Type n="ActionObjectDuplicationModeProperty">{6a58c9ae-b0e2-4127-8d9c-cbfc36a09580}</Type>
+            <Type n="Boolean">System.Boolean</Type>
+          </TypeList>
+        </XmlArchive>
+      </ObjectProperties>
+    </Action>
+    <Action Name="_aPOS_2_entry" Id="{61315308-5bec-490a-a6bc-fde3430a9e9d}">
+      <Implementation>
+        <ST><![CDATA[GVL_motor_data.M1_Desired_pos := -200;
+GVL_motor_data.M2_Desired_pos := -110;]]></ST>
+      </Implementation>
+      <ObjectProperties>
+        <XmlArchive>
+          <Data>
+            <o xml:space="preserve" t="ActionObjectDuplicationModeProperty">
+              <v n="Embedded">true</v>
+            </o>
+          </Data>
+          <TypeList>
+            <Type n="ActionObjectDuplicationModeProperty">{6a58c9ae-b0e2-4127-8d9c-cbfc36a09580}</Type>
+            <Type n="Boolean">System.Boolean</Type>
+          </TypeList>
+        </XmlArchive>
+      </ObjectProperties>
+    </Action>
+    <Action Name="_aPOS_3_entry" Id="{6ad81fe3-5dde-4873-8056-67e52ae14536}">
+      <Implementation>
+        <ST><![CDATA[GVL_motor_data.M1_Desired_pos := 0;
+GVL_motor_data.M2_Desired_pos := 0;]]></ST>
+      </Implementation>
+      <ObjectProperties>
+        <XmlArchive>
+          <Data>
+            <o xml:space="preserve" t="ActionObjectDuplicationModeProperty">
+              <v n="Embedded">true</v>
+            </o>
+          </Data>
+          <TypeList>
+            <Type n="ActionObjectDuplicationModeProperty">{6a58c9ae-b0e2-4127-8d9c-cbfc36a09580}</Type>
+            <Type n="Boolean">System.Boolean</Type>
+          </TypeList>
+        </XmlArchive>
+      </ObjectProperties>
+    </Action>
+    <ObjectProperties>
+      <XmlArchive>
+        <Data>
+          <o xml:space="preserve" t="SFCProperty">
+            <n n="SFCErrorAnalyzation" />
+            <n n="SFCErrorAnalyzationTable" />
+            <v n="Title">"IecSfc"</v>
+            <v n="Company">"System"</v>
+            <v n="Version">"3.4.2.0"</v>
+            <v n="Namespace">""</v>
+            <d2 n="Flags" ckt="Flags" cvt="SFCPropertyFlagData">
+              <v>CurrentStep</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>EnableLimit</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>Error</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>ErrorPOU</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>ErrorStep</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>Init</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>Pause</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>QuitError</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>Reset</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>Tip</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>TipMode</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>Trans</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>SFCErrorAnalyzation</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+              <v>SFCErrorAnalyzationTable</v>
+              <o>
+                <v n="Use">false</v>
+                <v n="Declare">true</v>
+              </o>
+            </d2>
+            <v n="CalcActiveTransOnly">false</v>
+            <v n="UseDefaults">true</v>
+          </o>
+        </Data>
+        <TypeList>
+          <Type n="Boolean">System.Boolean</Type>
+          <Type n="Flags">{27d8150b-ef58-4fff-8da1-1f7dd5f9ea51}</Type>
+          <Type n="SFCProperty">{58548d2c-f1b1-453d-9195-66c94e2a3ae0}</Type>
+          <Type n="SFCPropertyFlagData">{24565a38-6368-4874-ab9a-0ef7ec269521}</Type>
+          <Type n="String">System.String</Type>
+        </TypeList>
+      </XmlArchive>
+    </ObjectProperties>
+    <LineIds Name="POU_Position_Seq._aPOS_1_entry">
+      <LineId Id="4" Count="0" />
+      <LineId Id="2" Count="0" />
+    </LineIds>
+    <LineIds Name="POU_Position_Seq._aPOS_2_entry">
+      <LineId Id="2" Count="0" />
+      <LineId Id="1" Count="0" />
+    </LineIds>
+    <LineIds Name="POU_Position_Seq._aPOS_3_entry">
+      <LineId Id="2" Count="0" />
+      <LineId Id="1" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/Twincat/MotorData/TwinCAT Measurement Project1/Scope Project1.tcscopex b/Twincat/MotorData/TwinCAT Measurement Project1/Scope Project1.tcscopex
new file mode 100644
index 0000000..1bebd77
--- /dev/null
+++ b/Twincat/MotorData/TwinCAT Measurement Project1/Scope Project1.tcscopex	
@@ -0,0 +1,1574 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ScopeProject AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+  <AutoDeleteCapacity>0</AutoDeleteCapacity>
+  <AutoDeleteMode>Disabled</AutoDeleteMode>
+  <AutoDeleteOlderThan>0</AutoDeleteOlderThan>
+  <AutoRestartRecord>false</AutoRestartRecord>
+  <AutoSaveFileNameMask>{SCOPE}_AutoSave_{HH_mm_ss}</AutoSaveFileNameMask>
+  <AutoSavePath>$ScopeProject$\AutoSave</AutoSavePath>
+  <Comment />
+  <DisplayColor>Black</DisplayColor>
+  <Guid>64471c97-f5b5-4b0c-94f5-07c542874ff4</Guid>
+  <HeadlessServer />
+  <HeadlessServerConnectionId>00000000-0000-0000-0000-000000000000</HeadlessServerConnectionId>
+  <IsFileBased>true</IsFileBased>
+  <IsTemplate>false</IsTemplate>
+  <Layout>&lt;?xml version="1.0" encoding="utf-16"?&gt;
+&lt;Layout&gt;
+  &lt;Window Guid="78cbee9f-0a39-403c-8595-676f5c6b5671" LastFocused="132736992270715186" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="a5d32a52-1886-4ce8-9970-731db69737a6" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /&gt;
+  &lt;DocumentContainer Dock="5"&gt;
+    &lt;SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"&gt;
+      &lt;ControlLayoutSystem WorkingSize="250, 400" Guid="a5d32a52-1886-4ce8-9970-731db69737a6" Collapsed="0" SelectedControl="78cbee9f-0a39-403c-8595-676f5c6b5671"&gt;
+        &lt;Controls&gt;
+          &lt;Control Guid="78cbee9f-0a39-403c-8595-676f5c6b5671" /&gt;
+        &lt;/Controls&gt;
+      &lt;/ControlLayoutSystem&gt;
+    &lt;/SplitLayoutSystem&gt;
+  &lt;/DocumentContainer&gt;
+&lt;/Layout&gt;</Layout>
+  <MainServer>127.0.0.1.1.1</MainServer>
+  <Name>Scope Project</Name>
+  <RecordTime>6000000000</RecordTime>
+  <SortPriority>100</SortPriority>
+  <StopMode>AutoStop</StopMode>
+  <SubMember>
+    <DataPool AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+      <Comment />
+      <DisplayColor>Black</DisplayColor>
+      <Guid>0fdd4124-a686-4b2f-b44d-8816f82f12a5</Guid>
+      <IsFileBased>false</IsFileBased>
+      <Name>DataPool</Name>
+      <SortPriority>0</SortPriority>
+      <SubMember>
+        <AdsAcquisition AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <AmsNetId>10.183.82.252.1.1</AmsNetId>
+          <Area>Input</Area>
+          <ArrayLength>0</ArrayLength>
+          <BaseSampleTime>100000</BaseSampleTime>
+          <ChannelStyleInformation />
+          <Comment></Comment>
+          <ContextMask>0</ContextMask>
+          <DataAccess>
+            <DataAccessMode>
+              <Source>TwinCAT</Source>
+              <Protocoll>ADS</Protocoll>
+              <Format>TcBinary</Format>
+              <TimeContext>Present</TimeContext>
+              <TimeTangeInfo>
+                <StartTimeStamp>0</StartTimeStamp>
+                <EndTimeStamp>0</EndTimeStamp>
+              </TimeTangeInfo>
+            </DataAccessMode>
+          </DataAccess>
+          <DataType>INT16</DataType>
+          <DisplayColor>Black</DisplayColor>
+          <Enabled>true</Enabled>
+          <FileHandle>1</FileHandle>
+          <ForceOversampling>false</ForceOversampling>
+          <Guid>a4b43477-a7f5-45df-ba58-5a1961bbb4e8</Guid>
+          <IndexGroup>61472</IndexGroup>
+          <IndexOffset>385002</IndexOffset>
+          <IsFileBased>false</IsFileBased>
+          <IsHistorical>false</IsHistorical>
+          <Name>M1_Joint_rel_position</Name>
+          <Oversample>0</Oversample>
+          <RawUnit>
+            <Transformation>
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <ScaleFactor>1</ScaleFactor>
+              <SourceUnitPrefix>none</SourceUnitPrefix>
+              <SourceUnitString />
+              <Symbol>1</Symbol>
+              <TargetUnitString />
+              <TargetUnitValue>0</TargetUnitValue>
+            </Transformation>
+            <Unit>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ReturnText> (None) </ReturnText>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+            </Unit>
+            <UnitOffsetResult>0</UnitOffsetResult>
+            <UnitScaleResult>1</UnitScaleResult>
+            <UserUnit>
+              <BaseName>UnitOfOne</BaseName>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+              <UserPrefix>none</UserPrefix>
+            </UserUnit>
+          </RawUnit>
+          <ServerHandle>0</ServerHandle>
+          <SortPriority>10</SortPriority>
+          <SubMember />
+          <Suffix>.svacq</Suffix>
+          <SymbolBased>true</SymbolBased>
+          <SymbolName>GVL_motor_data.M1_Joint_rel_position</SymbolName>
+          <TargetPort>851</TargetPort>
+          <TimeOffset>0</TimeOffset>
+          <Title>AdsAcquisition_124</Title>
+          <UseLocalServer>true</UseLocalServer>
+          <UseTaskSampleTime>true</UseTaskSampleTime>
+          <VariableSize>2</VariableSize>
+        </AdsAcquisition>
+        <AdsAcquisition AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <AmsNetId>10.183.82.252.1.1</AmsNetId>
+          <Area>Input</Area>
+          <ArrayLength>0</ArrayLength>
+          <BaseSampleTime>100000</BaseSampleTime>
+          <ChannelStyleInformation />
+          <Comment></Comment>
+          <ContextMask>0</ContextMask>
+          <DataAccess>
+            <DataAccessMode>
+              <Source>TwinCAT</Source>
+              <Protocoll>ADS</Protocoll>
+              <Format>TcBinary</Format>
+              <TimeContext>Present</TimeContext>
+              <TimeTangeInfo>
+                <StartTimeStamp>0</StartTimeStamp>
+                <EndTimeStamp>0</EndTimeStamp>
+              </TimeTangeInfo>
+            </DataAccessMode>
+          </DataAccess>
+          <DataType>INT16</DataType>
+          <DisplayColor>Black</DisplayColor>
+          <Enabled>true</Enabled>
+          <FileHandle>2</FileHandle>
+          <ForceOversampling>false</ForceOversampling>
+          <Guid>935b9dda-7837-4cf8-8f56-e1e264fc242b</Guid>
+          <IndexGroup>61472</IndexGroup>
+          <IndexOffset>385022</IndexOffset>
+          <IsFileBased>false</IsFileBased>
+          <IsHistorical>false</IsHistorical>
+          <Name>M2_Joint_rel_position</Name>
+          <Oversample>0</Oversample>
+          <RawUnit>
+            <Transformation>
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <ScaleFactor>1</ScaleFactor>
+              <SourceUnitPrefix>none</SourceUnitPrefix>
+              <SourceUnitString />
+              <Symbol>1</Symbol>
+              <TargetUnitString />
+              <TargetUnitValue>0</TargetUnitValue>
+            </Transformation>
+            <Unit>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ReturnText> (None) </ReturnText>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+            </Unit>
+            <UnitOffsetResult>0</UnitOffsetResult>
+            <UnitScaleResult>1</UnitScaleResult>
+            <UserUnit>
+              <BaseName>UnitOfOne</BaseName>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+              <UserPrefix>none</UserPrefix>
+            </UserUnit>
+          </RawUnit>
+          <ServerHandle>0</ServerHandle>
+          <SortPriority>10</SortPriority>
+          <SubMember />
+          <Suffix>.svacq</Suffix>
+          <SymbolBased>true</SymbolBased>
+          <SymbolName>GVL_motor_data.M2_Joint_rel_position</SymbolName>
+          <TargetPort>851</TargetPort>
+          <TimeOffset>0</TimeOffset>
+          <Title>AdsAcquisition_124</Title>
+          <UseLocalServer>true</UseLocalServer>
+          <UseTaskSampleTime>true</UseTaskSampleTime>
+          <VariableSize>2</VariableSize>
+        </AdsAcquisition>
+        <AdsAcquisition AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <AmsNetId>10.183.82.252.1.1</AmsNetId>
+          <Area>Output</Area>
+          <ArrayLength>0</ArrayLength>
+          <BaseSampleTime>100000</BaseSampleTime>
+          <ChannelStyleInformation />
+          <Comment></Comment>
+          <ContextMask>0</ContextMask>
+          <DataAccess>
+            <DataAccessMode>
+              <Source>TwinCAT</Source>
+              <Protocoll>ADS</Protocoll>
+              <Format>TcBinary</Format>
+              <TimeContext>Present</TimeContext>
+              <TimeTangeInfo>
+                <StartTimeStamp>0</StartTimeStamp>
+                <EndTimeStamp>0</EndTimeStamp>
+              </TimeTangeInfo>
+            </DataAccessMode>
+          </DataAccess>
+          <DataType>INT16</DataType>
+          <DisplayColor>Black</DisplayColor>
+          <Enabled>true</Enabled>
+          <FileHandle>3</FileHandle>
+          <ForceOversampling>false</ForceOversampling>
+          <Guid>11e44e74-740b-4dd1-a66e-8b08c1ec7464</Guid>
+          <IndexGroup>61488</IndexGroup>
+          <IndexOffset>450182</IndexOffset>
+          <IsFileBased>false</IsFileBased>
+          <IsHistorical>false</IsHistorical>
+          <Name>M2_Desired_pos</Name>
+          <Oversample>0</Oversample>
+          <RawUnit>
+            <Transformation>
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <ScaleFactor>1</ScaleFactor>
+              <SourceUnitPrefix>none</SourceUnitPrefix>
+              <SourceUnitString />
+              <Symbol>1</Symbol>
+              <TargetUnitString />
+              <TargetUnitValue>0</TargetUnitValue>
+            </Transformation>
+            <Unit>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ReturnText> (None) </ReturnText>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+            </Unit>
+            <UnitOffsetResult>0</UnitOffsetResult>
+            <UnitScaleResult>1</UnitScaleResult>
+            <UserUnit>
+              <BaseName>UnitOfOne</BaseName>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+              <UserPrefix>none</UserPrefix>
+            </UserUnit>
+          </RawUnit>
+          <ServerHandle>0</ServerHandle>
+          <SortPriority>10</SortPriority>
+          <SubMember />
+          <Suffix>.svacq</Suffix>
+          <SymbolBased>true</SymbolBased>
+          <SymbolName>GVL_motor_data.M2_Desired_pos</SymbolName>
+          <TargetPort>851</TargetPort>
+          <TimeOffset>0</TimeOffset>
+          <Title>AdsAcquisition_124</Title>
+          <UseLocalServer>true</UseLocalServer>
+          <UseTaskSampleTime>true</UseTaskSampleTime>
+          <VariableSize>2</VariableSize>
+        </AdsAcquisition>
+        <AdsAcquisition AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <AmsNetId>10.183.82.252.1.1</AmsNetId>
+          <Area>Output</Area>
+          <ArrayLength>0</ArrayLength>
+          <BaseSampleTime>100000</BaseSampleTime>
+          <ChannelStyleInformation />
+          <Comment></Comment>
+          <ContextMask>0</ContextMask>
+          <DataAccess>
+            <DataAccessMode>
+              <Source>TwinCAT</Source>
+              <Protocoll>ADS</Protocoll>
+              <Format>TcBinary</Format>
+              <TimeContext>Present</TimeContext>
+              <TimeTangeInfo>
+                <StartTimeStamp>0</StartTimeStamp>
+                <EndTimeStamp>0</EndTimeStamp>
+              </TimeTangeInfo>
+            </DataAccessMode>
+          </DataAccess>
+          <DataType>INT16</DataType>
+          <DisplayColor>Black</DisplayColor>
+          <Enabled>true</Enabled>
+          <FileHandle>4</FileHandle>
+          <ForceOversampling>false</ForceOversampling>
+          <Guid>63b92219-8a5d-4088-92fd-615eb88540be</Guid>
+          <IndexGroup>61488</IndexGroup>
+          <IndexOffset>385190</IndexOffset>
+          <IsFileBased>false</IsFileBased>
+          <IsHistorical>false</IsHistorical>
+          <Name>M1_Desired_pos</Name>
+          <Oversample>0</Oversample>
+          <RawUnit>
+            <Transformation>
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <ScaleFactor>1</ScaleFactor>
+              <SourceUnitPrefix>none</SourceUnitPrefix>
+              <SourceUnitString />
+              <Symbol>1</Symbol>
+              <TargetUnitString />
+              <TargetUnitValue>0</TargetUnitValue>
+            </Transformation>
+            <Unit>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ReturnText> (None) </ReturnText>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+            </Unit>
+            <UnitOffsetResult>0</UnitOffsetResult>
+            <UnitScaleResult>1</UnitScaleResult>
+            <UserUnit>
+              <BaseName>UnitOfOne</BaseName>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+              <UserPrefix>none</UserPrefix>
+            </UserUnit>
+          </RawUnit>
+          <ServerHandle>0</ServerHandle>
+          <SortPriority>10</SortPriority>
+          <SubMember />
+          <Suffix>.svacq</Suffix>
+          <SymbolBased>true</SymbolBased>
+          <SymbolName>GVL_motor_data.M1_Desired_pos</SymbolName>
+          <TargetPort>851</TargetPort>
+          <TimeOffset>0</TimeOffset>
+          <Title>AdsAcquisition_124</Title>
+          <UseLocalServer>true</UseLocalServer>
+          <UseTaskSampleTime>true</UseTaskSampleTime>
+          <VariableSize>2</VariableSize>
+        </AdsAcquisition>
+        <AdsAcquisition AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <AmsNetId>10.183.82.252.1.1</AmsNetId>
+          <Area>Input</Area>
+          <ArrayLength>0</ArrayLength>
+          <BaseSampleTime>100000</BaseSampleTime>
+          <ChannelStyleInformation />
+          <Comment></Comment>
+          <ContextMask>0</ContextMask>
+          <DataAccess>
+            <DataAccessMode>
+              <Source>TwinCAT</Source>
+              <Protocoll>ADS</Protocoll>
+              <Format>TcBinary</Format>
+              <TimeContext>Present</TimeContext>
+              <TimeTangeInfo>
+                <StartTimeStamp>0</StartTimeStamp>
+                <EndTimeStamp>0</EndTimeStamp>
+              </TimeTangeInfo>
+            </DataAccessMode>
+          </DataAccess>
+          <DataType>INT16</DataType>
+          <DisplayColor>Black</DisplayColor>
+          <Enabled>true</Enabled>
+          <FileHandle>5</FileHandle>
+          <ForceOversampling>false</ForceOversampling>
+          <Guid>0d4c4b39-03cd-442e-8061-e06b858e0bdb</Guid>
+          <IndexGroup>61472</IndexGroup>
+          <IndexOffset>385008</IndexOffset>
+          <IsFileBased>false</IsFileBased>
+          <IsHistorical>false</IsHistorical>
+          <Name>M1_Motor_current_bus</Name>
+          <Oversample>0</Oversample>
+          <RawUnit>
+            <Transformation>
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <ScaleFactor>1</ScaleFactor>
+              <SourceUnitPrefix>none</SourceUnitPrefix>
+              <SourceUnitString />
+              <Symbol>1</Symbol>
+              <TargetUnitString />
+              <TargetUnitValue>0</TargetUnitValue>
+            </Transformation>
+            <Unit>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ReturnText> (None) </ReturnText>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+            </Unit>
+            <UnitOffsetResult>0</UnitOffsetResult>
+            <UnitScaleResult>1</UnitScaleResult>
+            <UserUnit>
+              <BaseName>UnitOfOne</BaseName>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+              <UserPrefix>none</UserPrefix>
+            </UserUnit>
+          </RawUnit>
+          <ServerHandle>0</ServerHandle>
+          <SortPriority>10</SortPriority>
+          <SubMember />
+          <Suffix>.svacq</Suffix>
+          <SymbolBased>true</SymbolBased>
+          <SymbolName>GVL_motor_data.M1_Motor_current_bus</SymbolName>
+          <TargetPort>851</TargetPort>
+          <TimeOffset>0</TimeOffset>
+          <Title>AdsAcquisition_124</Title>
+          <UseLocalServer>true</UseLocalServer>
+          <UseTaskSampleTime>true</UseTaskSampleTime>
+          <VariableSize>2</VariableSize>
+        </AdsAcquisition>
+        <AdsAcquisition AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <AmsNetId>10.183.82.252.1.1</AmsNetId>
+          <Area>Input</Area>
+          <ArrayLength>0</ArrayLength>
+          <BaseSampleTime>100000</BaseSampleTime>
+          <ChannelStyleInformation />
+          <Comment></Comment>
+          <ContextMask>0</ContextMask>
+          <DataAccess>
+            <DataAccessMode>
+              <Source>TwinCAT</Source>
+              <Protocoll>ADS</Protocoll>
+              <Format>TcBinary</Format>
+              <TimeContext>Present</TimeContext>
+              <TimeTangeInfo>
+                <StartTimeStamp>0</StartTimeStamp>
+                <EndTimeStamp>0</EndTimeStamp>
+              </TimeTangeInfo>
+            </DataAccessMode>
+          </DataAccess>
+          <DataType>INT16</DataType>
+          <DisplayColor>Black</DisplayColor>
+          <Enabled>true</Enabled>
+          <FileHandle>6</FileHandle>
+          <ForceOversampling>false</ForceOversampling>
+          <Guid>092e4270-4be2-41af-a1d7-8105aff42f22</Guid>
+          <IndexGroup>61472</IndexGroup>
+          <IndexOffset>385028</IndexOffset>
+          <IsFileBased>false</IsFileBased>
+          <IsHistorical>false</IsHistorical>
+          <Name>M2_Motor_current_bus</Name>
+          <Oversample>0</Oversample>
+          <RawUnit>
+            <Transformation>
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <ScaleFactor>1</ScaleFactor>
+              <SourceUnitPrefix>none</SourceUnitPrefix>
+              <SourceUnitString />
+              <Symbol>1</Symbol>
+              <TargetUnitString />
+              <TargetUnitValue>0</TargetUnitValue>
+            </Transformation>
+            <Unit>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ReturnText> (None) </ReturnText>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+            </Unit>
+            <UnitOffsetResult>0</UnitOffsetResult>
+            <UnitScaleResult>1</UnitScaleResult>
+            <UserUnit>
+              <BaseName>UnitOfOne</BaseName>
+              <BaseUnitString />
+              <BaseUnitValue>0</BaseUnitValue>
+              <Name>None</Name>
+              <NameExtension />
+              <Offset>0</Offset>
+              <Prefix>none</Prefix>
+              <ScaleFactor>1</ScaleFactor>
+              <Symbol></Symbol>
+              <UserPrefix>none</UserPrefix>
+            </UserUnit>
+          </RawUnit>
+          <ServerHandle>0</ServerHandle>
+          <SortPriority>10</SortPriority>
+          <SubMember />
+          <Suffix>.svacq</Suffix>
+          <SymbolBased>true</SymbolBased>
+          <SymbolName>GVL_motor_data.M2_Motor_current_bus</SymbolName>
+          <TargetPort>851</TargetPort>
+          <TimeOffset>0</TimeOffset>
+          <Title>AdsAcquisition_124</Title>
+          <UseLocalServer>true</UseLocalServer>
+          <UseTaskSampleTime>true</UseTaskSampleTime>
+          <VariableSize>2</VariableSize>
+        </AdsAcquisition>
+      </SubMember>
+      <Suffix>.svdp</Suffix>
+      <Title>DataPool_85</Title>
+    </DataPool>
+    <YTChart AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+      <AssignedCore>0</AssignedCore>
+      <AutoStart>true</AutoStart>
+      <Comment />
+      <DefaultDisplayWidth>100000000</DefaultDisplayWidth>
+      <DisplayColor>-986896</DisplayColor>
+      <DisplayOverwriteMode>false</DisplayOverwriteMode>
+      <ForeColor>-16777216</ForeColor>
+      <Guid>78cbee9f-0a39-403c-8595-676f5c6b5671</Guid>
+      <IsFileBased>false</IsFileBased>
+      <MasterChart>00000000-0000-0000-0000-000000000000</MasterChart>
+      <Name>YT Chart</Name>
+      <ShowVisionChart>false</ShowVisionChart>
+      <SortPriority>10</SortPriority>
+      <SubMember>
+        <AxisGroup AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>-1</DisplayColor>
+          <Enabled>true</Enabled>
+          <Guid>15e9ec12-9179-4038-aa1e-15391f92e232</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Axis Group</Name>
+          <SortPriority>10</SortPriority>
+          <SubMember>
+            <TimeAxis AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>591ede28-e71e-4531-b31a-947f3b4f6387</Guid>
+              <Inverted>false</Inverted>
+              <IsFileBased>false</IsFileBased>
+              <Logarithmic>false</Logarithmic>
+              <ManualMax>100000000</ManualMax>
+              <ManualMin>-0.5</ManualMin>
+              <Name>Time Axis</Name>
+              <Orientation>X</Orientation>
+              <ScalingMode>MinMax</ScalingMode>
+              <SortPriority>100</SortPriority>
+              <SubMember>
+                <AxisStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>-16777216</DisplayColor>
+                  <Grid>true</Grid>
+                  <GridColor>-16777216</GridColor>
+                  <GridDivisions>10</GridDivisions>
+                  <GridLineWidth>1</GridLineWidth>
+                  <Guid>3b6e2716-2450-4b96-a2b3-1fe8e58c760c</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <LineWidth>1</LineWidth>
+                  <Name>Axis Style (1)</Name>
+                  <Precision>6</Precision>
+                  <ShowName>false</ShowName>
+                  <SortPriority>100</SortPriority>
+                  <SubGrid>false</SubGrid>
+                  <SubGridDivisions>5</SubGridDivisions>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>AxisStyle_89</Title>
+                  <Visible>true</Visible>
+                </AxisStyle>
+              </SubMember>
+              <Suffix>.svaxis</Suffix>
+              <Title>Time Axis</Title>
+            </TimeAxis>
+            <ValueAxis AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>af7ff3e7-6bad-4633-a4e0-8f8c6b51dd82</Guid>
+              <Inverted>false</Inverted>
+              <IsFileBased>false</IsFileBased>
+              <Logarithmic>false</Logarithmic>
+              <ManualMax>0.5</ManualMax>
+              <ManualMin>-0.5</ManualMin>
+              <Name>Value Axis</Name>
+              <Orientation>Y</Orientation>
+              <ScalingMode>AutoGrowOnly</ScalingMode>
+              <SortPriority>100</SortPriority>
+              <SubMember>
+                <AxisStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>-16777216</DisplayColor>
+                  <Grid>true</Grid>
+                  <GridColor>-16777216</GridColor>
+                  <GridDivisions>10</GridDivisions>
+                  <GridLineWidth>1</GridLineWidth>
+                  <Guid>761888bb-e98d-4cc1-a631-072a746aaa3f</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <LineWidth>1</LineWidth>
+                  <Name>Axis Style</Name>
+                  <Precision>6</Precision>
+                  <ShowName>false</ShowName>
+                  <SortPriority>100</SortPriority>
+                  <SubGrid>false</SubGrid>
+                  <SubGridDivisions>5</SubGridDivisions>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>AxisStyle_91</Title>
+                  <Visible>true</Visible>
+                </AxisStyle>
+              </SubMember>
+              <Suffix>.svaxis</Suffix>
+              <Title>Value Axis</Title>
+            </ValueAxis>
+            <MarkerContainer AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>0b1bdbeb-f47e-4d4d-b4ce-0ab39d097817</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Marker Container</Name>
+              <SortPriority>100</SortPriority>
+              <SubMember />
+              <Suffix>.svmc</Suffix>
+              <Title>MarkerContainer_92</Title>
+            </MarkerContainer>
+            <Channel AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>-16744448</DisplayColor>
+              <Enabled>true</Enabled>
+              <Guid>0240e151-9951-46d9-86f7-07f636667d7a</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>M1_Joint_rel_position</Name>
+              <SortPriority>10</SortPriority>
+              <SubMember>
+                <ChannelStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>627a50a4-fc1e-4e8d-8642-e792197c5463</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Channel Style</Name>
+                  <SortPriority>100</SortPriority>
+                  <SubMember>
+                    <SeriesStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Antialias>true</Antialias>
+                      <Comment />
+                      <DisplayColor>Plum</DisplayColor>
+                      <FillColor>838893568</FillColor>
+                      <FillMode>None</FillMode>
+                      <Guid>20b4617a-e289-45c7-bcd7-bbcd9c2945ea</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <LineWidth>1</LineWidth>
+                      <MarkColor>-16744448</MarkColor>
+                      <MarkSize>2</MarkSize>
+                      <MarkState>Auto</MarkState>
+                      <Name>Series Style</Name>
+                      <SeriesType>Line</SeriesType>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>SeriesStyle_55</Title>
+                    </SeriesStyle>
+                    <MinMaxStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>7456ce08-64e0-4d58-8f80-d76eef3eec7c</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>Min/Max Style</Name>
+                      <ShowMax>false</ShowMax>
+                      <ShowMin>false</ShowMin>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>MinMaxStyle_110</Title>
+                    </MinMaxStyle>
+                    <TimeShiftStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>5dc64c4e-93d3-4a7a-b3aa-dbf28e454a23</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>TimeShiftStyle_111</Name>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svtss</Suffix>
+                      <TimeShift>0</TimeShift>
+                      <Title>TimeShiftStyle_111</Title>
+                    </TimeShiftStyle>
+                  </SubMember>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>ChannelStyle_45</Title>
+                  <Visible>true</Visible>
+                </ChannelStyle>
+                <AcquisitionInterpreter AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <AcquisitionGUID>a4b43477-a7f5-45df-ba58-5a1961bbb4e8</AcquisitionGUID>
+                  <BitMask>18446744073709551615</BitMask>
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>024fca52-b2d3-4197-9f61-939dbe9da7a3</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Y: M1_Joint_rel_position</Name>
+                  <Offset>0</Offset>
+                  <ResultingUnit>
+                    <Transformation>
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <ScaleFactor>1</ScaleFactor>
+                      <SourceUnitPrefix>none</SourceUnitPrefix>
+                      <SourceUnitString />
+                      <Symbol>1</Symbol>
+                      <TargetUnitString />
+                      <TargetUnitValue>0</TargetUnitValue>
+                    </Transformation>
+                    <Unit>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ReturnText> (None) </ReturnText>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                    </Unit>
+                    <UnitOffsetResult>0</UnitOffsetResult>
+                    <UnitScaleResult>1</UnitScaleResult>
+                    <UserUnit>
+                      <BaseName>UnitOfOne</BaseName>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                      <UserPrefix>none</UserPrefix>
+                    </UserUnit>
+                  </ResultingUnit>
+                  <ScaleFactor>1</ScaleFactor>
+                  <SortPriority>2</SortPriority>
+                  <SubMember />
+                  <Suffix>.svai</Suffix>
+                  <Title>AcquisitionInterpreter_41</Title>
+                  <Usage>Y</Usage>
+                </AcquisitionInterpreter>
+              </SubMember>
+              <Suffix>.svchannel</Suffix>
+              <Title>Channel_39</Title>
+            </Channel>
+            <Channel AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>-16776961</DisplayColor>
+              <Enabled>true</Enabled>
+              <Guid>e59b8597-82fc-41b5-bcfa-55e69ca4a729</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>M1_Desired_pos</Name>
+              <SortPriority>11</SortPriority>
+              <SubMember>
+                <AcquisitionInterpreter AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <AcquisitionGUID>63b92219-8a5d-4088-92fd-615eb88540be</AcquisitionGUID>
+                  <BitMask>18446744073709551615</BitMask>
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>2a0b993a-b959-415b-808b-999c3e94058f</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Y: M1_Desired_pos</Name>
+                  <Offset>0</Offset>
+                  <ResultingUnit>
+                    <Transformation>
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <ScaleFactor>1</ScaleFactor>
+                      <SourceUnitPrefix>none</SourceUnitPrefix>
+                      <SourceUnitString />
+                      <Symbol>1</Symbol>
+                      <TargetUnitString />
+                      <TargetUnitValue>0</TargetUnitValue>
+                    </Transformation>
+                    <Unit>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ReturnText> (None) </ReturnText>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                    </Unit>
+                    <UnitOffsetResult>0</UnitOffsetResult>
+                    <UnitScaleResult>1</UnitScaleResult>
+                    <UserUnit>
+                      <BaseName>UnitOfOne</BaseName>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                      <UserPrefix>none</UserPrefix>
+                    </UserUnit>
+                  </ResultingUnit>
+                  <ScaleFactor>1</ScaleFactor>
+                  <SortPriority>2</SortPriority>
+                  <SubMember />
+                  <Suffix>.svai</Suffix>
+                  <Title>AcquisitionInterpreter_41</Title>
+                  <Usage>Y</Usage>
+                </AcquisitionInterpreter>
+                <ChannelStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>f7ed19dc-5711-48d3-a4ef-f1457bb66f88</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Channel Style (1)</Name>
+                  <SortPriority>100</SortPriority>
+                  <SubMember>
+                    <SeriesStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Antialias>true</Antialias>
+                      <Comment />
+                      <DisplayColor>Plum</DisplayColor>
+                      <FillColor>838861055</FillColor>
+                      <FillMode>None</FillMode>
+                      <Guid>3857fc97-dc09-4f2f-bcc2-c4e7dcf8115a</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <LineWidth>1</LineWidth>
+                      <MarkColor>-16776961</MarkColor>
+                      <MarkSize>2</MarkSize>
+                      <MarkState>Auto</MarkState>
+                      <Name>Series Style (1)</Name>
+                      <SeriesType>Line</SeriesType>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>SeriesStyle_55</Title>
+                    </SeriesStyle>
+                    <MinMaxStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>d52e915f-a931-40c2-901d-776be09e3198</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>Min/Max Style (1)</Name>
+                      <ShowMax>false</ShowMax>
+                      <ShowMin>false</ShowMin>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>MinMaxStyle_123</Title>
+                    </MinMaxStyle>
+                    <TimeShiftStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>1b2a6ec4-f3e1-4303-809d-6587d6f562a4</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>TimeShiftStyle_124</Name>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svtss</Suffix>
+                      <TimeShift>0</TimeShift>
+                      <Title>TimeShiftStyle_124</Title>
+                    </TimeShiftStyle>
+                  </SubMember>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>ChannelStyle_45</Title>
+                  <Visible>true</Visible>
+                </ChannelStyle>
+              </SubMember>
+              <Suffix>.svchannel</Suffix>
+              <Title>Channel_39</Title>
+            </Channel>
+          </SubMember>
+          <Suffix>.svagroup</Suffix>
+          <Title>AxisGroup_87</Title>
+        </AxisGroup>
+        <OverviewChart AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>-1</DisplayColor>
+          <ForeColor>-16777216</ForeColor>
+          <Guid>0c9fc0f7-a470-4eb5-9146-bed624ef7ebf</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Overview Chart</Name>
+          <OverviewVisible>false</OverviewVisible>
+          <SortPriority>100</SortPriority>
+          <Suffix>.svochart</Suffix>
+          <Title>OverviewChart_93</Title>
+        </OverviewChart>
+        <ChartStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>Black</DisplayColor>
+          <GradientBackground>1</GradientBackground>
+          <Guid>7a8c4a11-b4dc-45d9-a65d-e6991c350c1c</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Chart Style</Name>
+          <ShowName>false</ShowName>
+          <SortPriority>100</SortPriority>
+          <StackedAxes>true</StackedAxes>
+          <SubMember>
+            <ChartZoomStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>395d0529-af31-41b1-a783-5be249df34ec</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Chartzoom Style</Name>
+              <ScaleOnZoom>true</ScaleOnZoom>
+              <SortPriority>100</SortPriority>
+              <Suffix>.svstyle</Suffix>
+              <Title>ChartZoomStyle_95</Title>
+              <YZoom>true</YZoom>
+            </ChartZoomStyle>
+            <ChartMenuStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <ButtonSize>
+                <Height>16</Height>
+                <Width>16</Width>
+              </ButtonSize>
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <EnabledButtons>3900669951</EnabledButtons>
+              <EnabledTimeLabels>All</EnabledTimeLabels>
+              <Guid>3bdec7ca-4512-406a-bf26-4ccc915250da</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Chartmenu Style</Name>
+              <SortPriority>100</SortPriority>
+              <Suffix>.svstyle</Suffix>
+              <TimeStripFontSize>8.25</TimeStripFontSize>
+              <Title>ChartMenuStyle_96</Title>
+              <ToolStripFontSize>8.25</ToolStripFontSize>
+              <UseLongTimeFormat>true</UseLongTimeFormat>
+              <VisibleTimeStrip>true</VisibleTimeStrip>
+              <VisibleToolStrip>true</VisibleToolStrip>
+            </ChartMenuStyle>
+          </SubMember>
+          <Suffix>.svstyle</Suffix>
+          <Title>ChartStyle_94</Title>
+          <ToolTipEnabled>true</ToolTipEnabled>
+        </ChartStyle>
+        <AxisGroup AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>-1</DisplayColor>
+          <Enabled>false</Enabled>
+          <Guid>a03841ce-4568-4934-afe1-c09b3330578c</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Axis Group (1)</Name>
+          <SortPriority>11</SortPriority>
+          <SubMember>
+            <RefGuid-TimeAxis>591ede28-e71e-4531-b31a-947f3b4f6387</RefGuid-TimeAxis>
+            <ValueAxis AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>0ee1823d-c265-4bb6-a29f-a977e09f711d</Guid>
+              <Inverted>false</Inverted>
+              <IsFileBased>false</IsFileBased>
+              <Logarithmic>false</Logarithmic>
+              <ManualMax>0.5</ManualMax>
+              <ManualMin>-0.5</ManualMin>
+              <Name>Value Axis (1)</Name>
+              <Orientation>Y</Orientation>
+              <ScalingMode>AutoGrowOnly</ScalingMode>
+              <SortPriority>100</SortPriority>
+              <SubMember>
+                <AxisStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>-16777216</DisplayColor>
+                  <Grid>true</Grid>
+                  <GridColor>-16777216</GridColor>
+                  <GridDivisions>10</GridDivisions>
+                  <GridLineWidth>1</GridLineWidth>
+                  <Guid>98f07914-226f-44ed-8d08-2c69a5d1c14d</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <LineWidth>1</LineWidth>
+                  <Name>Axis Style (2)</Name>
+                  <Precision>6</Precision>
+                  <ShowName>false</ShowName>
+                  <SortPriority>100</SortPriority>
+                  <SubGrid>false</SubGrid>
+                  <SubGridDivisions>5</SubGridDivisions>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>AxisStyle_49</Title>
+                  <Visible>true</Visible>
+                </AxisStyle>
+              </SubMember>
+              <Suffix>.svaxis</Suffix>
+              <Title>Value Axis</Title>
+            </ValueAxis>
+            <MarkerContainer AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>450253df-ea70-466b-b4f7-3de3e06bb9c1</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Marker Container (1)</Name>
+              <SortPriority>100</SortPriority>
+              <SubMember />
+              <Suffix>.svmc</Suffix>
+              <Title>MarkerContainer_128</Title>
+            </MarkerContainer>
+            <Channel AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>-23296</DisplayColor>
+              <Enabled>true</Enabled>
+              <Guid>a13a6f93-a92d-4e95-badb-5020384162d8</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>M1_Motor_current_bus</Name>
+              <SortPriority>10</SortPriority>
+              <SubMember>
+                <AcquisitionInterpreter AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <AcquisitionGUID>0d4c4b39-03cd-442e-8061-e06b858e0bdb</AcquisitionGUID>
+                  <BitMask>18446744073709551615</BitMask>
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>963568d4-c6f4-47ad-a663-805eaeefab2c</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Y: M1_Motor_current_bus</Name>
+                  <Offset>0</Offset>
+                  <ResultingUnit>
+                    <Transformation>
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <ScaleFactor>1</ScaleFactor>
+                      <SourceUnitPrefix>none</SourceUnitPrefix>
+                      <SourceUnitString />
+                      <Symbol>1</Symbol>
+                      <TargetUnitString />
+                      <TargetUnitValue>0</TargetUnitValue>
+                    </Transformation>
+                    <Unit>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ReturnText> (None) </ReturnText>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                    </Unit>
+                    <UnitOffsetResult>0</UnitOffsetResult>
+                    <UnitScaleResult>1</UnitScaleResult>
+                    <UserUnit>
+                      <BaseName>UnitOfOne</BaseName>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                      <UserPrefix>none</UserPrefix>
+                    </UserUnit>
+                  </ResultingUnit>
+                  <ScaleFactor>1</ScaleFactor>
+                  <SortPriority>2</SortPriority>
+                  <SubMember />
+                  <Suffix>.svai</Suffix>
+                  <Title>AcquisitionInterpreter_41</Title>
+                  <Usage>Y</Usage>
+                </AcquisitionInterpreter>
+                <ChannelStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>45edb3fa-0b8b-4d82-9e3d-ecf9df6c4a14</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Channel Style (2)</Name>
+                  <SortPriority>100</SortPriority>
+                  <SubMember>
+                    <SeriesStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Antialias>true</Antialias>
+                      <Comment />
+                      <DisplayColor>Plum</DisplayColor>
+                      <FillColor>855614720</FillColor>
+                      <FillMode>None</FillMode>
+                      <Guid>8483b346-dec1-4160-9d7c-bb20792a21ef</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <LineWidth>1</LineWidth>
+                      <MarkColor>-23296</MarkColor>
+                      <MarkSize>2</MarkSize>
+                      <MarkState>Auto</MarkState>
+                      <Name>Series Style (2)</Name>
+                      <SeriesType>Line</SeriesType>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>SeriesStyle_55</Title>
+                    </SeriesStyle>
+                    <MinMaxStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>0065f09a-41a1-41ac-88c9-9fbd23c9e1f6</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>Min/Max Style (2)</Name>
+                      <ShowMax>false</ShowMax>
+                      <ShowMin>false</ShowMin>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>MinMaxStyle_139</Title>
+                    </MinMaxStyle>
+                    <TimeShiftStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>698b112f-8cbb-4599-b7ea-5b23f7249060</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>TimeShiftStyle_140</Name>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svtss</Suffix>
+                      <TimeShift>0</TimeShift>
+                      <Title>TimeShiftStyle_140</Title>
+                    </TimeShiftStyle>
+                  </SubMember>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>ChannelStyle_45</Title>
+                  <Visible>true</Visible>
+                </ChannelStyle>
+              </SubMember>
+              <Suffix>.svchannel</Suffix>
+              <Title>Channel_39</Title>
+            </Channel>
+            <Channel AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>-16711936</DisplayColor>
+              <Enabled>true</Enabled>
+              <Guid>fd236e3d-a687-40b2-8b96-9f2016802046</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>M2_Motor_current_bus</Name>
+              <SortPriority>11</SortPriority>
+              <SubMember>
+                <AcquisitionInterpreter AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <AcquisitionGUID>092e4270-4be2-41af-a1d7-8105aff42f22</AcquisitionGUID>
+                  <BitMask>18446744073709551615</BitMask>
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>8e6cb9d6-ea5e-4739-b946-b8f81ae5464c</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Y: M2_Motor_current_bus</Name>
+                  <Offset>0</Offset>
+                  <ResultingUnit>
+                    <Transformation>
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <ScaleFactor>1</ScaleFactor>
+                      <SourceUnitPrefix>none</SourceUnitPrefix>
+                      <SourceUnitString />
+                      <Symbol>1</Symbol>
+                      <TargetUnitString />
+                      <TargetUnitValue>0</TargetUnitValue>
+                    </Transformation>
+                    <Unit>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ReturnText> (None) </ReturnText>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                    </Unit>
+                    <UnitOffsetResult>0</UnitOffsetResult>
+                    <UnitScaleResult>1</UnitScaleResult>
+                    <UserUnit>
+                      <BaseName>UnitOfOne</BaseName>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                      <UserPrefix>none</UserPrefix>
+                    </UserUnit>
+                  </ResultingUnit>
+                  <ScaleFactor>1</ScaleFactor>
+                  <SortPriority>2</SortPriority>
+                  <SubMember />
+                  <Suffix>.svai</Suffix>
+                  <Title>AcquisitionInterpreter_41</Title>
+                  <Usage>Y</Usage>
+                </AcquisitionInterpreter>
+                <ChannelStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>cd4f5394-05f8-4f90-a04c-c067f9e5b722</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Channel Style (3)</Name>
+                  <SortPriority>100</SortPriority>
+                  <SubMember>
+                    <SeriesStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Antialias>true</Antialias>
+                      <Comment />
+                      <DisplayColor>Plum</DisplayColor>
+                      <FillColor>838926080</FillColor>
+                      <FillMode>None</FillMode>
+                      <Guid>48222a0e-75a1-41d3-b5de-c9f53889b1f3</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <LineWidth>1</LineWidth>
+                      <MarkColor>-16711936</MarkColor>
+                      <MarkSize>2</MarkSize>
+                      <MarkState>Auto</MarkState>
+                      <Name>Series Style (3)</Name>
+                      <SeriesType>Line</SeriesType>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>SeriesStyle_55</Title>
+                    </SeriesStyle>
+                    <MinMaxStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>e3554a52-78d8-49a4-a908-5793bd7b4ee3</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>Min/Max Style (3)</Name>
+                      <ShowMax>false</ShowMax>
+                      <ShowMin>false</ShowMin>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>MinMaxStyle_145</Title>
+                    </MinMaxStyle>
+                    <TimeShiftStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>b4460750-0b4c-4043-9d44-6d5d27d208cb</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>TimeShiftStyle_146</Name>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svtss</Suffix>
+                      <TimeShift>0</TimeShift>
+                      <Title>TimeShiftStyle_146</Title>
+                    </TimeShiftStyle>
+                  </SubMember>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>ChannelStyle_45</Title>
+                  <Visible>true</Visible>
+                </ChannelStyle>
+              </SubMember>
+              <Suffix>.svchannel</Suffix>
+              <Title>Channel_39</Title>
+            </Channel>
+          </SubMember>
+          <Suffix>.svagroup</Suffix>
+          <Title>AxisGroup_43</Title>
+        </AxisGroup>
+        <AxisGroup AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>-1</DisplayColor>
+          <Enabled>true</Enabled>
+          <Guid>1a225ed8-687b-4590-9acd-14bdc2ea8b90</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Axis Group (2)</Name>
+          <SortPriority>12</SortPriority>
+          <SubMember>
+            <RefGuid-TimeAxis>591ede28-e71e-4531-b31a-947f3b4f6387</RefGuid-TimeAxis>
+            <ValueAxis AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>b3b63ec1-1fc6-4b6f-bdba-74b95b76f2af</Guid>
+              <Inverted>false</Inverted>
+              <IsFileBased>false</IsFileBased>
+              <Logarithmic>false</Logarithmic>
+              <ManualMax>0.5</ManualMax>
+              <ManualMin>-0.5</ManualMin>
+              <Name>Value Axis (2)</Name>
+              <Orientation>Y</Orientation>
+              <ScalingMode>AutoGrowOnly</ScalingMode>
+              <SortPriority>100</SortPriority>
+              <SubMember>
+                <AxisStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>-16777216</DisplayColor>
+                  <Grid>true</Grid>
+                  <GridColor>-16777216</GridColor>
+                  <GridDivisions>10</GridDivisions>
+                  <GridLineWidth>1</GridLineWidth>
+                  <Guid>784596f9-98da-4f59-9641-e070351e6d2a</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <LineWidth>1</LineWidth>
+                  <Name>Axis Style (3)</Name>
+                  <Precision>6</Precision>
+                  <ShowName>false</ShowName>
+                  <SortPriority>100</SortPriority>
+                  <SubGrid>false</SubGrid>
+                  <SubGridDivisions>5</SubGridDivisions>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>AxisStyle_49</Title>
+                  <Visible>true</Visible>
+                </AxisStyle>
+              </SubMember>
+              <Suffix>.svaxis</Suffix>
+              <Title>Value Axis</Title>
+            </ValueAxis>
+            <MarkerContainer AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>c36874a6-bab1-4d4c-8f1c-d5d0e5e799ab</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Marker Container (2)</Name>
+              <SortPriority>100</SortPriority>
+              <SubMember />
+              <Suffix>.svmc</Suffix>
+              <Title>MarkerContainer_150</Title>
+            </MarkerContainer>
+            <Channel AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>-14774017</DisplayColor>
+              <Enabled>true</Enabled>
+              <Guid>cb3f31dc-17a9-4bd5-b9d8-17b363472bb3</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>M2_Joint_rel_position</Name>
+              <SortPriority>10</SortPriority>
+              <SubMember>
+                <AcquisitionInterpreter AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <AcquisitionGUID>935b9dda-7837-4cf8-8f56-e1e264fc242b</AcquisitionGUID>
+                  <BitMask>18446744073709551615</BitMask>
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>75d21276-6138-43f2-85e3-f091aa300dd2</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Y: M2_Joint_rel_position</Name>
+                  <Offset>0</Offset>
+                  <ResultingUnit>
+                    <Transformation>
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <ScaleFactor>1</ScaleFactor>
+                      <SourceUnitPrefix>none</SourceUnitPrefix>
+                      <SourceUnitString />
+                      <Symbol>1</Symbol>
+                      <TargetUnitString />
+                      <TargetUnitValue>0</TargetUnitValue>
+                    </Transformation>
+                    <Unit>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ReturnText> (None) </ReturnText>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                    </Unit>
+                    <UnitOffsetResult>0</UnitOffsetResult>
+                    <UnitScaleResult>1</UnitScaleResult>
+                    <UserUnit>
+                      <BaseName>UnitOfOne</BaseName>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                      <UserPrefix>none</UserPrefix>
+                    </UserUnit>
+                  </ResultingUnit>
+                  <ScaleFactor>1</ScaleFactor>
+                  <SortPriority>2</SortPriority>
+                  <SubMember />
+                  <Suffix>.svai</Suffix>
+                  <Title>AcquisitionInterpreter_41</Title>
+                  <Usage>Y</Usage>
+                </AcquisitionInterpreter>
+                <ChannelStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>f3197dd9-c005-4637-b114-68d68db0ff72</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Channel Style (4)</Name>
+                  <SortPriority>100</SortPriority>
+                  <SubMember>
+                    <SeriesStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Antialias>true</Antialias>
+                      <Comment />
+                      <DisplayColor>Plum</DisplayColor>
+                      <FillColor>840863999</FillColor>
+                      <FillMode>None</FillMode>
+                      <Guid>25d4241b-50bc-4553-9f35-70298b1e360f</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <LineWidth>1</LineWidth>
+                      <MarkColor>-14774017</MarkColor>
+                      <MarkSize>2</MarkSize>
+                      <MarkState>Auto</MarkState>
+                      <Name>Series Style (4)</Name>
+                      <SeriesType>Line</SeriesType>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>SeriesStyle_55</Title>
+                    </SeriesStyle>
+                    <MinMaxStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>6bd2f1e7-cd8e-4e47-bd1b-f49cfd8fe600</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>Min/Max Style (4)</Name>
+                      <ShowMax>false</ShowMax>
+                      <ShowMin>false</ShowMin>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>MinMaxStyle_157</Title>
+                    </MinMaxStyle>
+                    <TimeShiftStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>974ececd-3aac-44ff-bd06-e03aa0359220</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>TimeShiftStyle_158</Name>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svtss</Suffix>
+                      <TimeShift>0</TimeShift>
+                      <Title>TimeShiftStyle_158</Title>
+                    </TimeShiftStyle>
+                  </SubMember>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>ChannelStyle_45</Title>
+                  <Visible>true</Visible>
+                </ChannelStyle>
+              </SubMember>
+              <Suffix>.svchannel</Suffix>
+              <Title>Channel_39</Title>
+            </Channel>
+            <Channel AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>-65281</DisplayColor>
+              <Enabled>true</Enabled>
+              <Guid>3795a970-3401-4c13-993c-c544378ec700</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>M2_Desired_pos</Name>
+              <SortPriority>11</SortPriority>
+              <SubMember>
+                <AcquisitionInterpreter AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <AcquisitionGUID>11e44e74-740b-4dd1-a66e-8b08c1ec7464</AcquisitionGUID>
+                  <BitMask>18446744073709551615</BitMask>
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>a6d4a794-4da8-4c96-a176-f6466d650ae1</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Y: M2_Desired_pos</Name>
+                  <Offset>0</Offset>
+                  <ResultingUnit>
+                    <Transformation>
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <ScaleFactor>1</ScaleFactor>
+                      <SourceUnitPrefix>none</SourceUnitPrefix>
+                      <SourceUnitString />
+                      <Symbol>1</Symbol>
+                      <TargetUnitString />
+                      <TargetUnitValue>0</TargetUnitValue>
+                    </Transformation>
+                    <Unit>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ReturnText> (None) </ReturnText>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                    </Unit>
+                    <UnitOffsetResult>0</UnitOffsetResult>
+                    <UnitScaleResult>1</UnitScaleResult>
+                    <UserUnit>
+                      <BaseName>UnitOfOne</BaseName>
+                      <BaseUnitString />
+                      <BaseUnitValue>0</BaseUnitValue>
+                      <Name>None</Name>
+                      <NameExtension />
+                      <Offset>0</Offset>
+                      <Prefix>none</Prefix>
+                      <ScaleFactor>1</ScaleFactor>
+                      <Symbol></Symbol>
+                      <UserPrefix>none</UserPrefix>
+                    </UserUnit>
+                  </ResultingUnit>
+                  <ScaleFactor>1</ScaleFactor>
+                  <SortPriority>2</SortPriority>
+                  <SubMember />
+                  <Suffix>.svai</Suffix>
+                  <Title>AcquisitionInterpreter_41</Title>
+                  <Usage>Y</Usage>
+                </AcquisitionInterpreter>
+                <ChannelStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>Black</DisplayColor>
+                  <Guid>e3a90259-d378-4c6c-93e0-137f94309653</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <Name>Channel Style (5)</Name>
+                  <SortPriority>100</SortPriority>
+                  <SubMember>
+                    <SeriesStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Antialias>true</Antialias>
+                      <Comment />
+                      <DisplayColor>Plum</DisplayColor>
+                      <FillColor>855572735</FillColor>
+                      <FillMode>None</FillMode>
+                      <Guid>28f7f589-7ab2-4cfa-a8b1-b7e090e91678</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <LineWidth>1</LineWidth>
+                      <MarkColor>-65281</MarkColor>
+                      <MarkSize>2</MarkSize>
+                      <MarkState>Auto</MarkState>
+                      <Name>Series Style (5)</Name>
+                      <SeriesType>Line</SeriesType>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>SeriesStyle_55</Title>
+                    </SeriesStyle>
+                    <MinMaxStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>861e3ec2-8f6b-4ed7-9c0c-11341f6519e5</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>Min/Max Style (5)</Name>
+                      <ShowMax>false</ShowMax>
+                      <ShowMin>false</ShowMin>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svstyle</Suffix>
+                      <Title>MinMaxStyle_161</Title>
+                    </MinMaxStyle>
+                    <TimeShiftStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                      <Comment />
+                      <DisplayColor>Black</DisplayColor>
+                      <Guid>38cfe620-ec6f-4f83-920a-177dc3cfd198</Guid>
+                      <IsFileBased>false</IsFileBased>
+                      <Name>TimeShiftStyle_162</Name>
+                      <SortPriority>100</SortPriority>
+                      <Suffix>.svtss</Suffix>
+                      <TimeShift>0</TimeShift>
+                      <Title>TimeShiftStyle_162</Title>
+                    </TimeShiftStyle>
+                  </SubMember>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>ChannelStyle_45</Title>
+                  <Visible>true</Visible>
+                </ChannelStyle>
+              </SubMember>
+              <Suffix>.svchannel</Suffix>
+              <Title>Channel_39</Title>
+            </Channel>
+          </SubMember>
+          <Suffix>.svagroup</Suffix>
+          <Title>AxisGroup_43</Title>
+        </AxisGroup>
+      </SubMember>
+      <Suffix>.svchart</Suffix>
+      <Title>YTChart_86</Title>
+    </YTChart>
+    <TriggerModule AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+      <Comment />
+      <DisplayColor>Black</DisplayColor>
+      <Guid>edd388f8-a158-4cab-b19b-e61383271ec9</Guid>
+      <IsFileBased>false</IsFileBased>
+      <Name>Trigger</Name>
+      <SortPriority>100</SortPriority>
+      <SubMember />
+      <Suffix>.svtm</Suffix>
+      <Title>TriggerModule_97</Title>
+    </TriggerModule>
+  </SubMember>
+  <Suffix>.tcscopex</Suffix>
+  <SynchronisationMode>Default</SynchronisationMode>
+  <TargetConnectionIds />
+  <Title>ScopeProject_3</Title>
+  <UseAutoSave>false</UseAutoSave>
+  <UseFileStore>true</UseFileStore>
+  <UseUserSettings>true</UseUserSettings>
+  <Version>1.0.0.0</Version>
+  <ViewDetailLevel>Default</ViewDetailLevel>
+</ScopeProject>
\ No newline at end of file
diff --git a/Twincat/MotorData/TwinCAT Measurement Project1/TwinCAT Measurement Project1.tcmproj b/Twincat/MotorData/TwinCAT Measurement Project1/TwinCAT Measurement Project1.tcmproj
index ace6e19..149df63 100644
--- a/Twincat/MotorData/TwinCAT Measurement Project1/TwinCAT Measurement Project1.tcmproj	
+++ b/Twincat/MotorData/TwinCAT Measurement Project1/TwinCAT Measurement Project1.tcmproj	
@@ -7,7 +7,7 @@
     <RootNamespace>TwinCAT Measurement Project1</RootNamespace>
   </PropertyGroup>
   <ItemGroup>
-    <Content Include="XY Scope Project.tcscopex">
+    <Content Include="Scope Project1.tcscopex">
       <SubType>Content</SubType>
     </Content>
   </ItemGroup>