diff --git a/Twincat/MotorData/.vs/MotorData/v15/.suo b/Twincat/MotorData/.vs/MotorData/v15/.suo
index da3d74b..9d9a1a7 100644
Binary files a/Twincat/MotorData/.vs/MotorData/v15/.suo and b/Twincat/MotorData/.vs/MotorData/v15/.suo differ
diff --git a/Twincat/MotorData/MotorData/MotorData.tsproj b/Twincat/MotorData/MotorData/MotorData.tsproj
index 65ff858..9ecb1a2 100644
--- a/Twincat/MotorData/MotorData/MotorData.tsproj
+++ b/Twincat/MotorData/MotorData/MotorData.tsproj
@@ -13,7 +13,7 @@
 		</System>
 		<Plc>
 			<Project GUID="{4AE346CD-C7CE-4990-9940-2D1E689DC225}" Name="Motordata_PLC" PrjFilePath="Motordata_PLC\Motordata_PLC.plcproj" TmcFilePath="Motordata_PLC\Motordata_PLC.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
-				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Motordata_PLC\Motordata_PLC.tmc">
 					<Name>Motordata_PLC Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Vars VarGrpType="1">
@@ -134,12 +134,12 @@
 				<Image Id="1" AddrType="9" ImageType="3">
 					<Name>Image</Name>
 				</Image>
-				<Box Id="1" BoxType="9099">
-					<Name>Box 1 (LAN9252-2_motor_Master)</Name>
+				<Box Id="2" BoxType="9099">
+					<Name>Box 2 (LAN9252-2_motor_Master)</Name>
 					<ImageId>1000</ImageId>
-					<EtherCAT SlaveType="1" PdiType="#x3180" CycleMBoxPollingTime="0" VendorId="#x000004d8" ProductCode="#x00000002" RevisionNo="#x00000005" PortPhys="17" IdentificationAdo="18" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="MSRM 2_motor_Master Ethercat Slave" Desc="LAN9252-2_motor_Master" PortABoxInfo="#x00ffffff">
-						<SyncMan>001140000400010003000000000000000000001104010000</SyncMan>
-						<SyncMan>001878000000010004000000000000000000001800010000</SyncMan>
+					<EtherCAT SlaveType="1" PdiType="#x3180" CycleMBoxPollingTime="0" VendorId="#x000004d8" ProductCode="#x00000002" RevisionNo="#x00000006" PortPhys="17" IdentificationAdo="18" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="MSRM 2_motor_Master Ethercat Slave" Desc="LAN9252-2_motor_Master" PortABoxInfo="#x00ffffff">
+						<SyncMan>001160000400010003000000000000000000001104010000</SyncMan>
+						<SyncMan>001880000000010004000000000000000000001800010000</SyncMan>
 						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
 						<Fmmu>0000000000000000001800010100000002000000000000000000000000000000</Fmmu>
 						<Pdo Name="MCU2ECAT" Index="#x1600" Flags="#x0010" SyncMan="1">
@@ -233,106 +233,118 @@
 							<Entry Name="EMG__CH8" Index="#x301e" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__status" Index="#x301f" Sub="#x01">
+							<Entry Name="SPARE__1_TX" Index="#x301f" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__2_TX" Index="#x3020" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__3_TX" Index="#x3021" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__4_TX" Index="#x3022" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__status" Index="#x3023" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M3__mode" Index="#x3020" Sub="#x01">
+							<Entry Name="M3__mode" Index="#x3024" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M3__Joint__rel_position" Index="#x3021" Sub="#x01">
+							<Entry Name="M3__Joint__rel_position" Index="#x3025" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Joint_abs_position" Index="#x3022" Sub="#x01">
+							<Entry Name="M3__Joint_abs_position" Index="#x3026" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Motor_speed" Index="#x3023" Sub="#x01">
+							<Entry Name="M3__Motor_speed" Index="#x3027" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Motor_current_bus" Index="#x3024" Sub="#x01">
+							<Entry Name="M3__Motor_current_bus" Index="#x3028" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Motor_currentPhA" Index="#x3025" Sub="#x01">
+							<Entry Name="M3__Motor_currentPhA" Index="#x3029" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Motor_currentPhB" Index="#x3026" Sub="#x01">
+							<Entry Name="M3__Motor_currentPhB" Index="#x302a" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Motor_currentPhC" Index="#x3027" Sub="#x01">
+							<Entry Name="M3__Motor_currentPhC" Index="#x302b" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Motor_hallState" Index="#x3028" Sub="#x01">
+							<Entry Name="M3__Motor_hallState" Index="#x302c" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Motor_dutyCycle" Index="#x3029" Sub="#x01">
+							<Entry Name="M3__Motor_dutyCycle" Index="#x302d" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__status" Index="#x302a" Sub="#x01">
+							<Entry Name="M4__status" Index="#x302e" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M4__mode" Index="#x302b" Sub="#x01">
+							<Entry Name="M4__mode" Index="#x302f" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M4__Joint__rel_position" Index="#x302c" Sub="#x01">
+							<Entry Name="M4__Joint__rel_position" Index="#x3030" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Joint_abs_position" Index="#x302d" Sub="#x01">
+							<Entry Name="M4__Joint_abs_position" Index="#x3031" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Motor_speed" Index="#x302e" Sub="#x01">
+							<Entry Name="M4__Motor_speed" Index="#x3032" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Motor_current_bus" Index="#x302f" Sub="#x01">
+							<Entry Name="M4__Motor_current_bus" Index="#x3033" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Motor_currentPhA" Index="#x3030" Sub="#x01">
+							<Entry Name="M4__Motor_currentPhA" Index="#x3034" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Motor_currentPhB" Index="#x3031" Sub="#x01">
+							<Entry Name="M4__Motor_currentPhB" Index="#x3035" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Motor_currentPhC" Index="#x3032" Sub="#x01">
+							<Entry Name="M4__Motor_currentPhC" Index="#x3036" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Motor_hallState" Index="#x3033" Sub="#x01">
+							<Entry Name="M4__Motor_hallState" Index="#x3037" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Motor_dutyCycle" Index="#x3034" Sub="#x01">
+							<Entry Name="M4__Motor_dutyCycle" Index="#x3038" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="IMU__q_x0" Index="#x3035" Sub="#x01">
+							<Entry Name="IMU__q_x0" Index="#x3039" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="IMU__q_y0" Index="#x3036" Sub="#x01">
+							<Entry Name="IMU__q_y0" Index="#x303a" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="IMU__q_z0" Index="#x3037" Sub="#x01">
+							<Entry Name="IMU__q_z0" Index="#x303b" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="IMU__q_w0" Index="#x3038" Sub="#x01">
+							<Entry Name="IMU__q_w0" Index="#x303c" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="FSR__CH1" Index="#x3039" Sub="#x01">
+							<Entry Name="FSR__CH1" Index="#x303d" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="FSR__CH2" Index="#x303a" Sub="#x01">
+							<Entry Name="FSR__CH2" Index="#x303e" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="FSR__CH3" Index="#x303b" Sub="#x01">
+							<Entry Name="FSR__CH3" Index="#x303f" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="FSR__CH4" Index="#x303c" Sub="#x01">
+							<Entry Name="FSR__CH4" Index="#x3040" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="FSR__CH5" Index="#x303d" Sub="#x01">
+							<Entry Name="FSR__CH5" Index="#x3041" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="Pressure__CH1" Index="#x303e" Sub="#x01">
+							<Entry Name="Pressure__CH1" Index="#x3042" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="Pressure__CH2" Index="#x303f" Sub="#x01">
+							<Entry Name="Pressure__CH2" Index="#x3043" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="Pressure__CH3" Index="#x3040" Sub="#x01">
+							<Entry Name="Pressure__CH3" Index="#x3044" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
 						</Pdo>
@@ -391,58 +403,106 @@
 							<Entry Name="M2__Spare" Index="#x3112" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__control_mode" Index="#x3113" Sub="#x01">
+							<Entry Name="SPARE__1_RX" Index="#x3113" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__2_RX" Index="#x3114" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__3_RX" Index="#x3115" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__4_RX" Index="#x3116" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__5_RX" Index="#x3117" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__6_RX" Index="#x3118" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__7_RX" Index="#x3119" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__8_RX" Index="#x311a" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__9_RX" Index="#x311b" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__10_RX" Index="#x311c" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__11_RX" Index="#x311d" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__12_RX" Index="#x311e" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__13_RX" Index="#x311f" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__14_RX" Index="#x3120" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__15_RX" Index="#x3121" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="SPARE__16_RX" Index="#x3122" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__control_mode" Index="#x3123" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M3__control_set" Index="#x3114" Sub="#x01">
+							<Entry Name="M3__control_set" Index="#x3124" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M3__desired_position" Index="#x3115" Sub="#x01">
+							<Entry Name="M3__desired_position" Index="#x3125" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__desired_speed" Index="#x3116" Sub="#x01">
+							<Entry Name="M3__desired_speed" Index="#x3126" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__desired__current" Index="#x3117" Sub="#x01">
+							<Entry Name="M3__desired__current" Index="#x3127" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Max_Pos" Index="#x3118" Sub="#x01">
+							<Entry Name="M3__Max_Pos" Index="#x3128" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Max_velocity" Index="#x3119" Sub="#x01">
+							<Entry Name="M3__Max_velocity" Index="#x3129" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Max_current" Index="#x311a" Sub="#x01">
+							<Entry Name="M3__Max_current" Index="#x312a" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M3__Spare" Index="#x311b" Sub="#x01">
+							<Entry Name="M3__Spare" Index="#x312b" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__control_mode" Index="#x311c" Sub="#x01">
+							<Entry Name="M4__control_mode" Index="#x312c" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M4__control_set" Index="#x311d" Sub="#x01">
+							<Entry Name="M4__control_set" Index="#x312d" Sub="#x01">
 								<Type>BYTE</Type>
 							</Entry>
-							<Entry Name="M4__desired_position" Index="#x311e" Sub="#x01">
+							<Entry Name="M4__desired_position" Index="#x312e" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__desired_speed" Index="#x311f" Sub="#x01">
+							<Entry Name="M4__desired_speed" Index="#x312f" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__desired__current" Index="#x3120" Sub="#x01">
+							<Entry Name="M4__desired__current" Index="#x3130" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Max_Pos" Index="#x3121" Sub="#x01">
+							<Entry Name="M4__Max_Pos" Index="#x3131" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Max_velocity" Index="#x3122" Sub="#x01">
+							<Entry Name="M4__Max_velocity" Index="#x3132" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Max_current" Index="#x3123" Sub="#x01">
+							<Entry Name="M4__Max_current" Index="#x3133" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
-							<Entry Name="M4__Spare" Index="#x3124" Sub="#x01">
+							<Entry Name="M4__Spare" Index="#x3134" Sub="#x01">
 								<Type>INT</Type>
 							</Entry>
 						</Pdo>