diff --git a/BaseComponents.tsproj b/BaseComponents.tsproj
index 00cc7e5..4b3d69d 100644
--- a/BaseComponents.tsproj
+++ b/BaseComponents.tsproj
@@ -131,12 +131,12 @@
 				</Task>
 			</Tasks>
 			<TypeSystem>
-				<AdditionalTmcFile Name="BaseComponents" File="BaseComponents.tmc"/>
+				<AdditionalTmcFile Name="Events" File="Events.tmc"/>
 			</TypeSystem>
 		</System>
 		<Plc>
 			<Project GUID="{4E62D9E7-436C-457D-8DC4-82D2FEF91C96}" Name="BasicComponents" PrjFilePath="BasicComponents\BasicComponents.plcproj" TmcFilePath="BasicComponents\BasicComponents.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" CopyTmcToTarget="true" CopyTpyToTarget="false" SymbolicMapping="true">
-				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{5DBE1701-D5AF-C0A4-B386-82619480C86C}" TmcPath="PLC\PLC.tmc">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{FB895001-23AB-2B17-4B12-BEB2F42468E3}" TmcPath="BasicComponents\BasicComponents.tmc">
 					<Name>BasicComponents Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Vars VarGrpType="2" AreaNo="1">
diff --git a/BasicComponents.library b/BasicComponents.library
index be757a8..dd1cca1 100644
Binary files a/BasicComponents.library and b/BasicComponents.library differ
diff --git a/BasicComponents/BasicComponents.plcproj b/BasicComponents/BasicComponents.plcproj
index cb355ea..2bf2adc 100644
--- a/BasicComponents/BasicComponents.plcproj
+++ b/BasicComponents/BasicComponents.plcproj
@@ -21,7 +21,7 @@
     <GlobalVersionStructureIncluded>false</GlobalVersionStructureIncluded>
     <Company>Heisig GmbH</Company>
     <Title>BaseComponents</Title>
-    <ProjectVersion>1.1</ProjectVersion>
+    <ProjectVersion>1.2</ProjectVersion>
     <DefaultNamespace>BC</DefaultNamespace>
     <Author>M.Heisig</Author>
     <Description>Basic components fb's (Valves, AI, AO, Motors, etc.)</Description>
@@ -73,6 +73,12 @@
     <Compile Include="POUs\Components\AxisPTP\FB_AxisPTP.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Components\Controller\FB_Limit.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="POUs\Components\Controller\FB_PI.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Components\EventListener\FB_EventListener.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -224,6 +230,7 @@
       <ExcludeFromBuild>true</ExcludeFromBuild>
     </Folder>
     <Folder Include="POUs\Components\Motor\Types" />
+    <Folder Include="POUs\Components\Controller" />
     <Folder Include="POUs\Components\Utilities" />
     <Folder Include="POUs\Components\Valves" />
     <Folder Include="POUs\Components\Valves\Types" />
@@ -283,7 +290,7 @@
     </PlaceholderReference>
   </ItemGroup>
   <ItemGroup>
-    <None Include="PLC.tmc">
+    <None Include="BasicComponents.tmc">
       <SubType>Content</SubType>
     </None>
   </ItemGroup>
@@ -292,11 +299,6 @@
       <SubType>Content</SubType>
     </None>
   </ItemGroup>
-  <ItemGroup>
-    <None Include="BasicComponents.tmc">
-      <SubType>Content</SubType>
-    </None>
-  </ItemGroup>
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>
diff --git a/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU b/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
index 7f08312..238d5dd 100644
--- a/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
+++ b/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
@@ -393,29 +393,18 @@ xError := _xError;]]></ST>
     <Method Name="M_Halt" Id="{f6e3b049-4121-4299-b0f5-55178ecb35c3}">
       <Declaration><![CDATA[METHOD M_Halt
 VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF _xBusy THEN
 	_xExecuteHalt := TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
-ELSE
-	eResultCode := E_SequenceResultCode.DONE;
-	eFailureCode := E_SequenceFailureCode.NONE;
 END_IF]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_Homing" Id="{816a1a43-38da-49f0-b902-c1027a6ba127}">
-      <Declaration><![CDATA[METHOD M_Homing
+      <Declaration><![CDATA[METHOD M_Homing : BOOL
 VAR_INPUT
 	lrHomingPosition : LREAL;
 	eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming;
-END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
@@ -423,79 +412,59 @@ END_VAR]]></Declaration>
 	_lrHomingPos := lrHomingPosition;
 	_eHomingMode := eHomingMode;
 	_xExecuteHoming := TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
+	M_Homing := TRUE;
 ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
+	M_Homing := FALSE;
 END_IF]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_MoveAbs" Id="{f67a4861-cdb0-4dd2-93c8-1ae9dbc9a9a6}">
-      <Declaration><![CDATA[METHOD M_MoveAbs
+      <Declaration><![CDATA[METHOD M_MoveAbs : BOOL;
 VAR_INPUT
 	lrTargetPos : LREAL;
-END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
 	_xBusy := TRUE;
 	_lrTargetPosition := lrTargetPos;
 	_xExecuteMoveAbs := TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
+	M_MoveAbs := TRUE;
 ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
+	M_MoveAbs := FALSE;
 END_IF
 ]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_MoveRel" Id="{51e5fe82-5e25-4de0-84c7-b4d6560c312f}">
-      <Declaration><![CDATA[METHOD M_MoveRel
+      <Declaration><![CDATA[METHOD M_MoveRel : BOOL;
 VAR_INPUT
 	lrRelDist : LREAL;
-END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
 	_xBusy := TRUE;
 	_lrRelativeDistance := lrRelDist;
 	_xExecuteMoveRel:= TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
+	M_MoveRel := TRUE;
 ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
+	M_MoveRel := FALSE;
 END_IF]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_MoveVelocity" Id="{fd4ad471-f522-45f2-a138-ebe509907cf6}">
-      <Declaration><![CDATA[METHOD M_MoveVelocity
+      <Declaration><![CDATA[METHOD M_MoveVelocity : BOOL;
 VAR_INPUT
 	eDirection : MC_Direction := MC_Direction.MC_Positive_Direction;
 END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
-END_VAR
 ]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
 	_xBusy := TRUE;	
 	_xExecuteMoveVelocity := TRUE;
 	_eMoveVelDirection := eDirection;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
+	M_MoveVelocity := TRUE;
 ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
+	M_MoveVelocity := FALSE;
 END_IF
 	]]></ST>
       </Implementation>
diff --git a/BasicComponents/POUs/Components/Controller/FB_Limit.TcPOU b/BasicComponents/POUs/Components/Controller/FB_Limit.TcPOU
new file mode 100644
index 0000000..fdd2216
--- /dev/null
+++ b/BasicComponents/POUs/Components/Controller/FB_Limit.TcPOU
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Limit" Id="{b96bc001-8221-07a5-2342-3de34e6faf1f}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Limit
+VAR_INPUT
+	rIn : REAL;
+	rMin : REAL;
+	rMax : REAL;
+END_VAR
+VAR_OUTPUT
+	rOut : REAL;
+	xClampedUpper : BOOL;
+	xClampedLower : BOOL;
+END_VAR
+VAR
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[IF rIn > rMax THEN
+	rOut := rMax;
+	xClampedUpper := TRUE;
+ELSIF rIn < rMin THEN
+	rOut := rMin;
+	xClampedLower := TRUE;
+ELSE
+	rOut := rIn;
+	xClampedUpper := FALSE;
+	xClampedLower := FALSE;
+END_IF]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/BasicComponents/POUs/Components/Controller/FB_PI.TcPOU b/BasicComponents/POUs/Components/Controller/FB_PI.TcPOU
new file mode 100644
index 0000000..6261e4d
--- /dev/null
+++ b/BasicComponents/POUs/Components/Controller/FB_PI.TcPOU
@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_PI" Id="{d504557e-7fd7-4784-a00a-5d7d1bed0c95}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_PI
+VAR_INPUT
+	rSP : REAL;
+	rPV : REAL;
+	rKp : REAL;
+	rTn : REAL;
+	
+	xEnable : BOOL;
+	xSaturatedUpper : BOOL := FALSE;
+	xSaturatedLower : BOOL := FALSE;
+END_VAR
+VAR_OUTPUT
+	rMV : REAL;
+END_VAR
+VAR
+	
+	_rError : REAL := 0.0;
+	_rIntegral : REAL := 0.0;
+	_rProportinal : REAL := 0.0;
+	
+	_rDeltaIntegral : REAL := 0.0;
+	
+	_fbGetCurTaskIdx : GETCURTASKINDEX;
+	_rT : REAL;
+	
+	_xFirstCylce : BOOL := TRUE;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[IF _xFirstCylce THEN
+	_xFirstCylce := FALSE;
+	
+	// Get current task time
+	_fbGetCurTaskIdx();
+	_rT := LREAL_TO_REAL(UDINT_TO_LREAL(TwinCAT_SystemInfoVarList._TASKInfo[_fbGetCurTaskIdx.index].CycleTime) * 10E-5);
+END_IF
+
+
+IF xEnable THEN
+	_rError := rSP - rPV;
+ELSE
+	_rError := 0.0;
+	_rIntegral := 0.0;
+	rMV := 0.0;
+	RETURN;
+END_IF
+
+// Calculate proportinal part
+_rProportinal := rKp * _rError;
+
+// Calculate controller output
+rMV := _rProportinal + _rIntegral;
+
+// Calculate integral for this step
+IF rTn <> 0 THEN
+	_rDeltaIntegral := (rKp * _rT / rTn) * _rError;
+ELSE
+	_rDeltaIntegral := 0;
+END_IF
+
+// Only add new integral part if we are going away from the upper or lower bound
+IF (xSaturatedUpper AND (_rDeltaIntegral > 0.0))  THEN
+	_rDeltaIntegral := 0.0;
+END_IF
+
+IF (xSaturatedLower AND (_rDeltaIntegral < 0.0)) THEN
+	_rDeltaIntegral := 0.0;
+END_IF
+
+// Calculate integral part
+_rIntegral := _rIntegral + _rDeltaIntegral;
+
+// Reset integral with deactivated integral time
+IF (rTn = 0.0) AND (_rIntegral <> 0) THEN
+	_rIntegral := 0.0;
+END_IF]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>
\ No newline at end of file