From 326ee2c0d0aaa794ed9f2157c1ac964b1d36c038 Mon Sep 17 00:00:00 2001
From: "m.heisig" <m.heisig@heisig-gmbh.de>
Date: Wed, 18 Mar 2026 22:48:08 +0100
Subject: [PATCH 1/4] Started change to new pattern with FB_AxisPTP

---
 BasicComponents/BasicComponents.plcproj       |   6 +
 BasicComponents/DUTs/E_CmdResult.TcDUT        |  24 +
 .../Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT |  28 +-
 .../POUs/Components/AxisPTP/FB_AxisPTP.TcPOU  | 590 ++++++++----------
 .../Components/AxisPTP/ST_AxisPTP_IO.TcDUT    |  12 +
 5 files changed, 325 insertions(+), 335 deletions(-)
 create mode 100644 BasicComponents/DUTs/E_CmdResult.TcDUT
 create mode 100644 BasicComponents/POUs/Components/AxisPTP/ST_AxisPTP_IO.TcDUT

diff --git a/BasicComponents/BasicComponents.plcproj b/BasicComponents/BasicComponents.plcproj
index 124a628..14875d4 100644
--- a/BasicComponents/BasicComponents.plcproj
+++ b/BasicComponents/BasicComponents.plcproj
@@ -45,6 +45,9 @@
     </SelectedLibraryCategories>
   </PropertyGroup>
   <ItemGroup>
+    <Compile Include="DUTs\E_CmdResult.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="PlcTask.TcTTO">
       <SubType>Code</SubType>
     </Compile>
@@ -72,6 +75,9 @@
     <Compile Include="POUs\Components\AxisPTP\FB_AxisPTP.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Components\AxisPTP\ST_AxisPTP_IO.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Components\Controller\FB_Limit.TcPOU">
       <SubType>Code</SubType>
     </Compile>
diff --git a/BasicComponents/DUTs/E_CmdResult.TcDUT b/BasicComponents/DUTs/E_CmdResult.TcDUT
new file mode 100644
index 0000000..7e49151
--- /dev/null
+++ b/BasicComponents/DUTs/E_CmdResult.TcDUT
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_CmdResult" Id="{280b22d6-e4fc-482b-8eba-52154be334ab}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_CmdResult :
+(
+	// Command accepted and in execution
+	ACCEPTED := 0,
+	
+	// Component currently busy with another command
+	BUSY := 1,
+	
+	// Command currently not allowed
+	REJECTED := 2,
+	
+	// Component has error
+	ERROR := 3
+) INT;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT b/BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT
index 40c18a8..7814430 100644
--- a/BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT
+++ b/BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT
@@ -6,16 +6,24 @@
 {attribute 'to_string'}
 TYPE E_AXIS_PTP_STATE :
 (
-	OFF := 0,
-	WAIT_FOR_ENABLE,
-	ENABLED,
-	HOMING,
-	MOVING_ABSOLUTE,
-	MOVING_RELATIVE,
-	MOVING_VELOCITY,
-	MOVING_MODULO,
-	HALTING,
-	WAIT_FOR_DISABLE,
+	IDLE := 0,
+	START_ENABLE,
+	WAIT_ENABLE,
+	START_DISABLE,
+	WAIT_DISABLE,
+	START_HOMING,
+	WAIT_HOMING,
+	START_MOVING_ABSOLUTE,
+	WAIT_MOVING_ABSOLUTE,
+	START_MOVING_RELATIVE,
+	WAIT_MOVING_RELATIVE,
+	START_MOVING_VELOCITY,
+	WAIT_MOVING_VELOCITY,
+	START_MOVING_MODULO,
+	WAIT_MOVING_MODULO,
+	START_HALTING,
+	WAIT_HALTING,
+	ENTER_ERROR,
 	ERROR,
 	RESET
 );
diff --git a/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU b/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
index 61f2d5d..6232180 100644
--- a/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
+++ b/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
@@ -3,8 +3,6 @@
   <POU Name="FB_AxisPTP" Id="{5a7035b7-f11b-403b-9828-9d2d1f662a54}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK FB_AxisPTP
 VAR_INPUT
-	xEnable : BOOL;
-	xCalibrationCam AT %I* : BOOL;
 	xInvertCalibrationCam : BOOL := FALSE;
 	xEnablePositive : BOOL := TRUE;
 	xEnableNegative : BOOL := TRUE;
@@ -22,16 +20,20 @@ VAR_OUTPUT
 	xHomed : BOOL;
 	lrActPosition : LREAL;
 	xIsStopped : BOOL;
+	
+	// Outputs for execute pattern
 	xBusy : BOOL;
-	xDone : BOOL;
+	xDone : BOOL := TRUE;
 	xError : BOOL;
 END_VAR
+VAR_IN_OUT
+	stIO : ST_AxisPTP_IO;
+END_VAR
 VAR
 	// ========
 	// Axis fbs
 	// ========
 	
-	_fbAxis : AXIS_REF;
 	_fbPower : MC_Power;
 	_fbHome : MC_Home;
 	_fbMoveAbsolute : MC_MoveAbsolute;
@@ -42,20 +44,6 @@ VAR
 	_fbReset : MC_Reset;
 	
 	
-	// ======================
-	// Axis fbs control flags
-	// ======================
-	
-	_xEnable : BOOL;
-	_xStartHomeing : BOOL;
-	_xStartMoveAbsolute : BOOL;
-	_xStartMoveRelative : BOOL;
-	_xStartMoveVelocity : BOOL;
-	_xStartMoveModulo : BOOL;
-	_xHalt : BOOL;
-	_xReset : BOOL;
-	
-	
 	// =====================
 	// Sequence control data
 	// =====================
@@ -82,30 +70,17 @@ VAR
 	
 	_xCanExecNewCmd : BOOL;
 	
-	_eState : E_AXIS_PTP_STATE;
-	
-	
-	// =============
-	// Ouput buffers
-	// =============
-	
-	_xDone : BOOL;
-	_xBusy : BOOL;
-	_xError : BOOL;
+	_eState : E_AXIS_PTP_STATE := E_AXIS_PTP_STATE.IDLE;
 END_VAR
 ]]></Declaration>
     <Implementation>
       <ST><![CDATA[// Call axis interface
-_fbAxis.ReadStatus();
-
-IF _fbAxis.Status.Error THEN
-	_xError := TRUE;
-END_IF
+stIO.io_fbAxisRef.ReadStatus();
 
 IF xInvertCalibrationCam THEN
-	_xCalibrationCam := NOT xCalibrationCam;
+	_xCalibrationCam := NOT stIO.i_xCalibrationCam;
 ELSE
-	_xCalibrationCam := xCalibrationCam;
+	_xCalibrationCam := stIO.i_xCalibrationCam;
 END_IF
 
 
@@ -114,261 +89,167 @@ END_IF
 // =================
 
 _fbPower(
-	Axis:= _fbAxis, 
-	Enable:= _xEnable, 
+	Axis:= stIO.io_fbAxisRef, 
 	Enable_Positive:= xEnablePositive, 
 	Enable_Negative:= xEnableNegative, 
 	Override:= rOverride);
-	
-IF _fbPower.Error THEN
-	_xError := TRUE;
-END_IF
-
 
 _fbHome(
-	Axis:= _fbAxis, 
-	Execute:= _xStartHomeing, 
+	Axis:= stIO.io_fbAxisRef, 
 	Position:= _lrHomingPos, 
 	HomingMode:= _eHomingMode, 
 	bCalibrationCam:= _xCalibrationCam);
-	
-IF _fbHome.Error THEN
-	_xError := TRUE;
-END_IF
-
-_fbReset(
-	Axis:= _fbAxis, 
-	Execute:= _xReset);
-	
-IF _fbReset.Error THEN
-	_xError := TRUE;
-END_IF
 
+_fbReset(Axis:= stIO.io_fbAxisRef);
 
 _fbMoveAbsolute(
-	Axis:= _fbAxis, 
-	Execute:= _xStartMoveAbsolute, 
+	Axis:= stIO.io_fbAxisRef, 
 	Position:= _lrTargetPosition, 
 	Velocity:= lrVelocity, 
 	Acceleration:= 0, 
 	Deceleration:= 0,
 	Jerk:= 0);
-	
-IF _fbMoveAbsolute.Error THEN
-	_xError := TRUE;
-END_IF
-
 
 _fbMoveRelative(
-	Axis:= _fbAxis, 
-	Execute:= _xStartMoveRelative, 
+	Axis:= stIO.io_fbAxisRef, 
 	Distance:= _lrRelativeDistance, 
 	Velocity:= lrVelocity, 
 	Acceleration:= 0, 
 	Deceleration:= 0,
 	Jerk:= 0);
-	
-IF _fbMoveRelative.Error THEN
-	_xError := TRUE;
-END_IF
-
 
 _fbMoveVelocity(
-	Axis:= _fbAxis, 
-	Execute:= _xStartMoveVelocity, 
+	Axis:= stIO.io_fbAxisRef, 
 	Velocity:= lrVelocity, 
 	Acceleration:= 0, 
 	Deceleration:= 0, 
 	Jerk:= 0, 
 	Direction:= _eMoveDirection);
 	
-IF _fbMoveVelocity.Error THEN
-	_xError := TRUE;
-END_IF
-
 _fbMoveModulo(
-	Axis:= _fbAxis, 
-	Execute:= _xStartMoveModulo, 
+	Axis:= stIO.io_fbAxisRef, 
 	Position:= _lrTargetPosition, 
 	Velocity:= lrVelocity, 
 	Acceleration:= 0, 
 	Deceleration:= 0, 
 	Jerk:= 0, 
 	Direction:= _eMoveDirection);
-	
-IF _fbMoveModulo.Error THEN
-	_xError := TRUE;
-END_IF
-
 
 _fbHalt(
-	Axis:= _fbAxis, 
-	Execute:= _xHalt, 
+	Axis:= stIO.io_fbAxisRef, 
 	Deceleration:= 0,
 	BufferMode := MC_BufferMode.MC_Aborting,
 	Jerk:= 0);
-	
-IF _fbHalt.Error THEN
-	_xError := TRUE;
-END_IF
 
 // ====================
 // Handle state machine
 // ====================
 
 CASE _eState OF
-	E_AXIS_PTP_STATE.OFF:
-		IF xEnable THEN
-			_xEnable := TRUE;
-			_xBusy := TRUE;
-			_xDone := FALSE;
-			_eState := E_AXIS_PTP_STATE.WAIT_FOR_ENABLE;
-		END_IF
-		
-		IF _xError THEN
-			_xBusy := FALSE;
+	E_AXIS_PTP_STATE.IDLE:
+		// Check for error
+		IF stIO.io_fbAxisRef.Status.Error THEN
 			_eState := E_AXIS_PTP_STATE.ERROR;
 		END_IF
 		
+	// =========
+	// Enableing
+	// =========
+	E_AXIS_PTP_STATE.START_ENABLE:
+		_fbPower.Enable := TRUE;
+		_eState := E_AXIS_PTP_STATE.WAIT_ENABLE;
 		
-	E_AXIS_PTP_STATE.WAIT_FOR_ENABLE:
-		IF _fbPower.Status AND (NOT _xError) THEN
-			_xBusy := FALSE;
-			_xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
+	E_AXIS_PTP_STATE.WAIT_ENABLE:
+		IF _fbPower.Status AND (NOT _fbPower.Error) THEN
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
 		END_IF
 		
-		IF _xError THEN
-			_xEnable := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
+		IF _fbPower.Error THEN
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 		
+	// =======
+	// Homeing
+	// =======
+	E_AXIS_PTP_STATE.START_HOMING:
+		_fbHome.Execute := TRUE;
+		_eState := E_AXIS_PTP_STATE.WAIT_HOMING;
 		
-	E_AXIS_PTP_STATE.ENABLED:
-		
-		IF _xExecuteMoveAbs THEN
-			_xExecuteMoveAbs := FALSE;
-			_xStartMoveAbsolute := TRUE;
-			_eState := E_AXIS_PTP_STATE.MOVING_ABSOLUTE;
-		END_IF
-				
-		IF _xExecuteMoveRel THEN
-			_xExecuteMoveRel := FALSE;
-			_xStartMoveRelative := TRUE;
-			_eState := E_AXIS_PTP_STATE.MOVING_RELATIVE;
+	E_AXIS_PTP_STATE.WAIT_HOMING:
+		IF _fbHome.Done THEN
+			_fbHome.Execute := FALSE;
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
 		END_IF
 		
-		IF _xExecuteHoming THEN
-			_xExecuteHoming := FALSE;
-			_xStartHomeing := TRUE;
-			_eState := E_AXIS_PTP_STATE.HOMING;
-		END_IF
-		
-		IF _xExecuteMoveVelocity THEN
-			_xExecuteMoveVelocity := FALSE;
-			_xStartMoveVelocity := TRUE;
-			_eState := E_AXIS_PTP_STATE.MOVING_VELOCITY;
-		END_IF
-		
-		IF _xExecuteMoveModulo THEN
-			_xExecuteMoveModulo := FALSE;
-			_xStartMoveModulo := TRUE;
-			_eState := E_AXIS_PTP_STATE.MOVING_MODULO;
+		IF _fbHome.Error THEN
+			_fbHome.Execute := FALSE;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 	
-		IF (NOT xEnable) AND (NOT _xError) THEN
-			_xEnable := FALSE;
-			_xBusy := TRUE;
-			_xDone := FALSE;
-			_eState := E_AXIS_PTP_STATE.WAIT_FOR_DISABLE;
-		END_IF
-		
-		IF _xError THEN
-			_xEnable := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
-		
-		
-	E_AXIS_PTP_STATE.HOMING:
-		IF (NOT _fbHome.Busy) AND (NOT _xError) THEN
-			_xStartHomeing := FALSE;
-			_xBusy := FALSE;
-			_xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
-		END_IF
-		
-		IF _xExecuteHalt THEN
-			_xExecuteHalt := FALSE;
-			_xStartHomeing := FALSE;
-			_xHalt := TRUE;
-			_eState := E_AXIS_PTP_STATE.HALTING;
-		END_IF
-		
-		IF _xError THEN
-			_xStartHomeing := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
+	// =============
+	// Move absolute
+	// =============
+	E_AXIS_PTP_STATE.START_MOVING_ABSOLUTE:
+		_fbMoveAbsolute.Execute := TRUE;
+		_eState := E_AXIS_PTP_STATE.WAIT_MOVING_ABSOLUTE;
 	
-	
-	E_AXIS_PTP_STATE.MOVING_ABSOLUTE:
-		IF (NOT _fbMoveAbsolute.Busy) AND (NOT _xError) THEN
-			_xStartMoveAbsolute := FALSE;
-			_xBusy := FALSE;
-			_xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
+	E_AXIS_PTP_STATE.WAIT_MOVING_ABSOLUTE:
+		IF _fbMoveAbsolute.Done THEN
+			_fbMoveAbsolute.Execute := FALSE;
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
 		END_IF
 		
-		IF _xExecuteHalt THEN
-			_xExecuteHalt := FALSE;
-			_xStartMoveAbsolute := FALSE;
-			_xHalt := TRUE;
-			_eState := E_AXIS_PTP_STATE.HALTING;
-		END_IF
-		
-		IF _xError THEN
-			_xStartMoveAbsolute := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
+		IF _fbMoveAbsolute.Error THEN
+			_fbMoveAbsolute.Execute := FALSE;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 
 
-	E_AXIS_PTP_STATE.MOVING_RELATIVE:
-		IF (NOT _fbMoveRelative.Busy) AND (NOT _xError) THEN
-			_xStartMoveRelative := FALSE;
-			_xBusy := FALSE;
-			_xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
+	// =============
+	// Move relative
+	// =============
+	E_AXIS_PTP_STATE.START_MOVING_RELATIVE:
+		_fbMoveRelative.Execute := TRUE;
+		_eState := E_AXIS_PTP_STATE.WAIT_MOVING_RELATIVE;
+	
+	E_AXIS_PTP_STATE.WAIT_MOVING_RELATIVE:
+		IF _fbMoveRelative.Done THEN
+			_fbMoveRelative.Execute := FALSE;
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
 		END_IF
 		
-		IF _xExecuteHalt THEN
-			_xExecuteHalt := FALSE;
-			_xStartMoveAbsolute := FALSE;
-			_xHalt := TRUE;
-			_eState := E_AXIS_PTP_STATE.HALTING;
-		END_IF
-		
-		IF _xError THEN
-			_xStartMoveRelative := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
+		IF _fbMoveRelative.Error THEN
+			_fbMoveRelative.Execute := FALSE;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 	
 	
-	E_AXIS_PTP_STATE.MOVING_VELOCITY:
+	// =============
+	// Move velocity
+	// =============
+	E_AXIS_PTP_STATE.START_MOVING_VELOCITY:
+		_fbMoveVelocity.Execute := TRUE;
+		_eState := E_AXIS_PTP_STATE.WAIT_MOVING_VELOCITY;
+	
+	E_AXIS_PTP_STATE.WAIT_MOVING_VELOCITY:
+		IF _fbMoveVelocity.Busy THEN
+			_fbMoveVelocity.Execute := FALSE;
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
+		END_IF
+		
 		IF _fbMoveVelocity.Error THEN
-			_xBusy := FALSE;
-			_xStartMoveVelocity := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
-		
-		IF _xExecuteHalt THEN
-			_xExecuteHalt := FALSE;
-			_xStartMoveVelocity := FALSE;
-			_xHalt := TRUE;
-			_eState := E_AXIS_PTP_STATE.HALTING;
+			_fbMoveVelocity.Execute := FALSE;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 		
 
@@ -389,8 +270,7 @@ CASE _eState OF
 		
 		IF _xError THEN
 			_xStartMoveModulo := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 	
 	
@@ -403,9 +283,7 @@ CASE _eState OF
 		END_IF
 		
 		IF _xError THEN
-			_xHalt := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 	
 		
@@ -417,17 +295,19 @@ CASE _eState OF
 		END_IF
 		
 		IF _xError THEN
-			_xEnable := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 	
+	E_AXIS_PTP_STATE.ENTER_ERROR:
+		xError := TRUE;
+		xBusy := FALSE;
+		xDone := FALSE;
+		
+		_eState := E_AXIS_PTP_STATE.ERROR;
 	
 	E_AXIS_PTP_STATE.ERROR:
 		IF xConfirmAlarms THEN
-			_xBusy := FALSE;
 			_xReset := TRUE;
-			_xError := FALSE;
 			_eState := E_AXIS_PTP_STATE.RESET;
 		END_IF
 	
@@ -435,164 +315,224 @@ CASE _eState OF
 	E_AXIS_PTP_STATE.RESET:
 		IF _fbReset.Done THEN
 			_xReset := FALSE;
-			_xError := FALSE;
 			_eState := E_AXIS_PTP_STATE.OFF;
 		END_IF
 
-	
+
 	ELSE
 		_eState := E_AXIS_PTP_STATE.ERROR;
-		_xError := TRUE;
 END_CASE
 
-// Can the axis perform a new move command
-_xCanExecNewCmd := (NOT _xBusy) AND _fbPower.Status AND (NOT _xError);
 
 // Copy internal buffers to outputs
 xEnabled := _fbPower.Status;
-xHomed := _fbAxis.Status.Homed;
-lrActPosition := _fbAxis.NcToPlc.ActPos;
-xIsStopped := _fbAxis.Status.StandStill OR _fbAxis.Status.Disabled;
-xDone := _xDone;
-xBusy := _xBusy;
-xError := _xError;]]></ST>
+xHomed := stIO.io_fbAxisRef.Status.Homed;
+lrActPosition := stIO.io_fbAxisRef.NcToPlc.ActPos;
+xIsStopped := stIO.io_fbAxisRef.Status.StandStill OR stIO.io_fbAxisRef.Status.Disabled;]]></ST>
     </Implementation>
+    <Method Name="M_Disable" Id="{9ad5c9f5-bbf1-4888-86a0-ffdb2251d9c0}">
+      <Declaration><![CDATA[METHOD M_Disable : E_CmdResult
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _eState OF
+	E_AXIS_PTP_STATE.IDLE:
+		_eState := E_AXIS_PTP_STATE.START_DISABLE;
+		
+		xBusy := TRUE;
+		xDone := FALSE;
+		M_Disable := E_CmdResult.ACCEPTED;
+	
+	E_AXIS_PTP_STATE.ERROR:
+		M_Disable := E_CmdResult.ERROR;
+		
+	ELSE
+		M_Disable := E_CmdResult.BUSY;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Enable" Id="{d68c8a7b-c709-4efe-872c-84892228bb19}">
+      <Declaration><![CDATA[METHOD M_Enable : E_CmdResult
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _eState OF
+	E_AXIS_PTP_STATE.IDLE:
+		_eState := E_AXIS_PTP_STATE.START_ENABLE;
+		
+		xBusy := TRUE;
+		xDone := FALSE;
+		M_Enable := E_CmdResult.ACCEPTED;
+	
+	E_AXIS_PTP_STATE.ERROR:
+		M_Enable := E_CmdResult.ERROR;
+		
+	ELSE
+		M_Enable := E_CmdResult.BUSY;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="M_Halt" Id="{f6e3b049-4121-4299-b0f5-55178ecb35c3}">
-      <Declaration><![CDATA[METHOD M_Halt
+      <Declaration><![CDATA[METHOD M_Halt : E_CmdResult
 VAR_OUTPUT
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[IF _xBusy THEN
-	_xExecuteHalt := TRUE;
-	_xDone := FALSE;
-	xDone := FALSE;
-	_xBusy := TRUE;
-	xBusy := TRUE;
-END_IF]]></ST>
+        <ST><![CDATA[_eState := E_AXIS_PTP_STATE.START_HALTING;
+
+xBusy := TRUE;
+xDone := FALSE;
+M_Halt := E_CmdResult.ACCEPTED;]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_Homing" Id="{816a1a43-38da-49f0-b902-c1027a6ba127}">
-      <Declaration><![CDATA[METHOD M_Homing : BOOL
+      <Declaration><![CDATA[METHOD M_Homing : E_CmdResult
 VAR_INPUT
 	lrHomingPosition : LREAL := Tc2_MC2.DEFAULT_HOME_POSITION;
 	eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming;
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xCanExecNewCmd := FALSE;
+        <ST><![CDATA[// Reject command if axis is not enabled
+IF (NOT _fbPower.Status) THEN
+	M_Homing := E_CmdResult.REJECTED;
+	RETURN;
+END_IF
+
+CASE _eState OF
+	E_AXIS_PTP_STATE.IDLE:
+		_eState := E_AXIS_PTP_STATE.START_HOMING;
+		
+		xBusy := TRUE;
+		xDone := FALSE;
+		M_Homing := E_CmdResult.ACCEPTED;
 	
-	_lrHomingPos := lrHomingPosition;
-	_eHomingMode := eHomingMode;
-	_xExecuteHoming := TRUE;
-	
-	_xDone := FALSE;
-	xDone := FALSE;
-	_xBusy := TRUE;
-	xBusy := TRUE;
-	
-	M_Homing := TRUE;
-ELSE
-	M_Homing := FALSE;
-END_IF]]></ST>
+	E_AXIS_PTP_STATE.ERROR:
+		M_Homing := E_CmdResult.ERROR;
+		
+	ELSE
+		M_Homing := E_CmdResult.BUSY;
+END_CASE]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_MoveAbs" Id="{f67a4861-cdb0-4dd2-93c8-1ae9dbc9a9a6}">
-      <Declaration><![CDATA[METHOD M_MoveAbs : BOOL;
+      <Declaration><![CDATA[METHOD M_MoveAbs : E_CmdResult
 VAR_INPUT
 	lrTargetPos : LREAL;
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xCanExecNewCmd := FALSE;
-
-	_lrTargetPosition := lrTargetPos;
-	_xExecuteMoveAbs := TRUE;
-	
-	_xDone := FALSE;
-	xDone := FALSE;
-	_xBusy := TRUE;
-	xBusy := TRUE;
-	
-	M_MoveAbs := TRUE;
-ELSE
-	M_MoveAbs := FALSE;
+        <ST><![CDATA[// Reject command if axis is not enabled
+IF (NOT _fbPower.Status) THEN
+	M_MoveAbs := E_CmdResult.REJECTED;
+	RETURN;
 END_IF
+
+CASE _eState OF
+	E_AXIS_PTP_STATE.IDLE:
+		_lrTargetPosition := lrTargetPos;
+		_eState := E_AXIS_PTP_STATE.START_MOVING_ABSOLUTE;
+		
+		xBusy := TRUE;
+		xDone := FALSE;
+		M_MoveAbs := E_CmdResult.ACCEPTED;
+	
+	E_AXIS_PTP_STATE.ERROR:
+		M_MoveAbs := E_CmdResult.ERROR;
+		
+	ELSE
+		M_MoveAbs := E_CmdResult.BUSY;
+END_CASE
 ]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_MoveModulo" Id="{1a5eaefa-5bb1-4438-b3e0-80c1a34fc0ee}">
-      <Declaration><![CDATA[METHOD M_MoveModulo : BOOL
+      <Declaration><![CDATA[METHOD M_MoveModulo : E_CmdResult
 VAR_INPUT
 	lrTargetPos : LREAL;
 	eMoveDirection : MC_Direction;
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xCanExecNewCmd := FALSE;
+        <ST><![CDATA[// Reject command if axis is not enabled
+IF (NOT _fbPower.Status) THEN
+	M_MoveModulo := E_CmdResult.REJECTED;
+	RETURN;
+END_IF
+
+CASE _eState OF
+	E_AXIS_PTP_STATE.IDLE:
+		_lrTargetPosition := lrTargetPos;
+		_eMoveDirection := eMoveDirection;
+		_eState := E_AXIS_PTP_STATE.START_MOVING_MODULO;
+		
+		xBusy := TRUE;
+		xDone := FALSE;
+		M_MoveModulo := E_CmdResult.ACCEPTED;
 	
-	_lrTargetPosition := lrTargetPos;
-	_eMoveDirection := eMoveDirection;
-	_xExecuteMoveModulo := TRUE;
-	
-	_xDone := FALSE;
-	xDone := FALSE;
-	_xBusy := TRUE;
-	xBusy := TRUE;
-	
-	M_MoveModulo := TRUE;
-ELSE
-	M_MoveModulo := FALSE;
-END_IF]]></ST>
+	E_AXIS_PTP_STATE.ERROR:
+		M_MoveModulo := E_CmdResult.ERROR;
+		
+	ELSE
+		M_MoveModulo := E_CmdResult.BUSY;
+END_CASE]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_MoveRel" Id="{51e5fe82-5e25-4de0-84c7-b4d6560c312f}">
-      <Declaration><![CDATA[METHOD M_MoveRel : BOOL;
+      <Declaration><![CDATA[METHOD M_MoveRel : E_CmdResult
 VAR_INPUT
 	lrRelDist : LREAL;
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xCanExecNewCmd := FALSE;
+        <ST><![CDATA[// Reject command if axis is not enabled
+IF (NOT _fbPower.Status) THEN
+	M_MoveRel := E_CmdResult.REJECTED;
+	RETURN;
+END_IF
+
+CASE _eState OF
+	E_AXIS_PTP_STATE.IDLE:
+		_lrRelativeDistance := lrRelDist;
+		_eState := E_AXIS_PTP_STATE.START_MOVING_RELATIVE;
+		
+		xBusy := TRUE;
+		xDone := FALSE;
+		M_MoveRel := E_CmdResult.ACCEPTED;
 	
-	_xBusy := TRUE;
-	_lrRelativeDistance := lrRelDist;
-	_xExecuteMoveRel:= TRUE;
-	
-	_xDone := FALSE;
-	xDone := FALSE;
-	_xBusy := TRUE;
-	xBusy := TRUE;
-	
-	M_MoveRel := TRUE;
-ELSE
-	M_MoveRel := FALSE;
-END_IF]]></ST>
+	E_AXIS_PTP_STATE.ERROR:
+		M_MoveRel := E_CmdResult.ERROR;
+		
+	ELSE
+		M_MoveRel := E_CmdResult.BUSY;
+END_CASE]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_MoveVelocity" Id="{fd4ad471-f522-45f2-a138-ebe509907cf6}">
-      <Declaration><![CDATA[METHOD M_MoveVelocity : BOOL;
+      <Declaration><![CDATA[METHOD M_MoveVelocity : E_CmdResult
 VAR_INPUT
 	eDirection : MC_Direction := MC_Direction.MC_Positive_Direction;
 END_VAR
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xCanExecNewCmd := FALSE;
-	
-	_xBusy := TRUE;	
-	_xExecuteMoveVelocity := TRUE;
-	_eMoveDirection := eDirection;
-	
-	_xDone := FALSE;
-	xDone := FALSE;
-	_xBusy := TRUE;
-	xBusy := TRUE;
-	
-	M_MoveVelocity := TRUE;
-ELSE
-	M_MoveVelocity := FALSE;
+        <ST><![CDATA[// Reject command if axis is not enabled
+IF (NOT _fbPower.Status) THEN
+	M_MoveRel := E_CmdResult.REJECTED;
+	RETURN;
 END_IF
-	]]></ST>
+
+CASE _eState OF
+	E_AXIS_PTP_STATE.IDLE:
+		_eMoveDirection := eDirection;
+		_eState := E_AXIS_PTP_STATE.START_MOVING_VELOCITY;
+		
+		xBusy := TRUE;
+		xDone := FALSE;
+		M_MoveRel := E_CmdResult.ACCEPTED;
+	
+	E_AXIS_PTP_STATE.ERROR:
+		M_MoveRel := E_CmdResult.ERROR;
+		
+	ELSE
+		M_MoveRel := E_CmdResult.BUSY;
+END_CASE]]></ST>
       </Implementation>
     </Method>
   </POU>
diff --git a/BasicComponents/POUs/Components/AxisPTP/ST_AxisPTP_IO.TcDUT b/BasicComponents/POUs/Components/AxisPTP/ST_AxisPTP_IO.TcDUT
new file mode 100644
index 0000000..6d68578
--- /dev/null
+++ b/BasicComponents/POUs/Components/AxisPTP/ST_AxisPTP_IO.TcDUT
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_AxisPTP_IO" Id="{e9334c76-7085-45c0-b389-151c48bf0632}">
+    <Declaration><![CDATA[TYPE ST_AxisPTP_IO :
+STRUCT
+	i_xCalibrationCam AT %I* : BOOL;
+	io_fbAxisRef : AXIS_REF;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file

From cf9501ea013a473cfd7fee0b0a0e177d015d55df Mon Sep 17 00:00:00 2001
From: "m.heisig" <m.heisig@heisig-gmbh.de>
Date: Thu, 19 Mar 2026 12:17:10 +0100
Subject: [PATCH 2/4] Changed all components to use HAL structs as in and outs

- All components now use HAL structs as inputs and outputs
- Restructured library folders
- FB_Axis_PTP now implements the execute pattern with E_CmdResult
- Bumped version number to 2.0.0
---
 BaseComponents.tsproj                         | 350 +---------------
 BasicComponents.library                       | Bin 1028740 -> 1035852 bytes
 BasicComponents/BasicComponents.plcproj       | 381 +++++++++---------
 .../Analog/DUTs}/ST_ANALOG_EW_CONFIG.TcDUT    |   0
 .../Analog/DUTs}/ST_ANALOG_EW_DELAYS.TcDUT    |   0
 .../Analog/DUTs}/ST_ANALOG_EW_LEVELS.TcDUT    |   0
 .../Analog/DUTs}/ST_ANALOG_IO_CONFIG.TcDUT    |   0
 .../Analog/DUTs/ST_AnalogInput_IO.TcDUT       |  22 +
 .../Analog/DUTs/ST_AnalogOutput_IO.TcDUT      |  11 +
 .../Analog/POUs}/FB_AnalogInput.TcPOU         |  24 +-
 .../Analog/POUs}/FB_AnalogOutput.TcPOU        |   7 +-
 .../AxisPTP/DUTs}/E_AXIS_PTP_STATE.TcDUT      |   1 +
 .../AxisPTP/DUTs}/ST_AxisPTP_IO.TcDUT         |   0
 .../AxisPTP/POUs}/FB_AxisPTP.TcPOU            |  99 +++--
 .../Controller/POUs}/FB_Limit.TcPOU           |   0
 .../Controller/POUs}/FB_PI.TcPOU              |   0
 .../Controller/POUs}/FB_PID.TcPOU             |   0
 .../Controller/POUs}/FB_RampGenerator.TcPOU   |   0
 .../EventListener/DUTs}/E_EventType.TcDUT     |   0
 .../DUTs}/ST_BufferEventEntry.TcDUT           |   0
 .../POUs}/FB_EventListener.TcPOU              |   0
 .../Components/Motor/FB_MotorBecker.TcPOU     |   0
 .../Motor/Types/ST_MOTOR_BECKER_CONFIG.TcDUT  |   0
 .../Utilities/FB_AlarmMessage.TcPOU           |   0
 .../Components/Utilities/FB_Blinker.TcPOU     |   0
 .../Utilities/FB_ReleaseSignal.TcPOU          |   0
 .../Utilities/FC_HashFNV1a_32Bit.TcPOU        |   0
 .../Utilities/F_GetTaskCycleTime.TcPOU        |   0
 .../Valves/DUTs}/ST_ValveAnalogConfig.TcDUT   |   0
 .../Valves/DUTs/ST_ValveAnalog_IO.TcDUT       |  16 +
 .../Valves/DUTs}/ST_ValveConfig.TcDUT         |   0
 .../Components/Valves/DUTs/ST_Valve_IO.TcDUT  |  21 +
 .../Valves/POUs}/FB_Valve.TcPOU               |  20 +-
 .../Valves/POUs}/FB_ValveAnalog.TcPOU         |  26 +-
 .../{POUs/GVL => GVLs}/GVL_CONFIGS.TcGVL      |   0
 .../Constants => GVLs}/GVL_TYPE_CONST.TcGVL   |   0
 .../Datentypen/ST_HMI_ANALOG_MOTOR_DATA.TcDUT |   0
 .../HMI/Datentypen/ST_HMI_ANALOG_VALUE.TcDUT  |   0
 .../Datentypen/ST_HMI_ANALOG_VALVE_DATA.TcDUT |   0
 .../Datentypen/ST_HMI_CONTROL_BUTTON.TcDUT    |   0
 .../HMI/Datentypen/ST_HMI_INTEGER_VALUE.TcDUT |   0
 .../HMI/Datentypen/ST_HMI_INTERLOCK.TcDUT     |   0
 .../HMI/Datentypen/ST_HMI_VALVE_DATA.TcDUT    |   0
 .../HMI/Datentypen/T_INTERLOCK.TcDUT          |   0
 .../HMI/Enum/E_HMI_ANALOG_VALUE_STATUS.TcDUT  |   0
 .../HMI/Enum/E_HMI_BUTTON_FEEDBACK.TcDUT      |   0
 .../{POUs => }/HMI/Enum/E_HMI_MODE.TcDUT      |   0
 .../HMI/Enum/E_HMI_MOTOR_STATUS.TcDUT         |   0
 .../HMI/Enum/E_HMI_VALVE_STATUS.TcDUT         |   0
 BasicComponents/{POUs => }/PRG_MAIN.TcPOU     |  28 +-
 .../AITests/FB_AnalogInputTest.TcPOU          | 256 ++++++------
 .../AOTests/FB_AnalogOutputTest.TcPOU         |  24 +-
 .../FB_ValveAnalog_Test.TcPOU                 |  18 +-
 .../FB_ReleaseSignalTest.TcPOU                |   0
 .../UtilitiesTests/FB_BlinkerTest.TcPOU       |   0
 .../FB_HashFNV1a_32BitTest.TcPOU              |   0
 .../Unittests/UtilitiesTests/FB_PT1Test.TcPOU |   0
 .../UtilitiesTests/FB_RampGeneratorTest.TcPOU |   0
 .../ValveTests/FB_ValveTestHMI.TcPOU          |  70 ++--
 .../ValveTests/FB_ValveTestTimoutClose.TcPOU  |   4 +-
 .../ValveTests/FB_ValveTestTimoutOpen.TcPOU   |   4 +-
 .../FB_ValveTestTriggerTimoutClose.TcPOU      |   2 +-
 .../FB_ValveTestTriggerTimoutOpen.TcPOU       |   2 +-
 .../Unittests/ValveTests/FB_Valve_Test.TcPOU  |  24 +-
 64 files changed, 573 insertions(+), 837 deletions(-)
 rename BasicComponents/{POUs/Components/Analog/Types => Components/Analog/DUTs}/ST_ANALOG_EW_CONFIG.TcDUT (100%)
 rename BasicComponents/{POUs/Components/Analog/Types => Components/Analog/DUTs}/ST_ANALOG_EW_DELAYS.TcDUT (100%)
 rename BasicComponents/{POUs/Components/Analog/Types => Components/Analog/DUTs}/ST_ANALOG_EW_LEVELS.TcDUT (100%)
 rename BasicComponents/{POUs/Components/Analog/Types => Components/Analog/DUTs}/ST_ANALOG_IO_CONFIG.TcDUT (100%)
 create mode 100644 BasicComponents/Components/Analog/DUTs/ST_AnalogInput_IO.TcDUT
 create mode 100644 BasicComponents/Components/Analog/DUTs/ST_AnalogOutput_IO.TcDUT
 rename BasicComponents/{POUs/Components/Analog => Components/Analog/POUs}/FB_AnalogInput.TcPOU (97%)
 rename BasicComponents/{POUs/Components/Analog => Components/Analog/POUs}/FB_AnalogOutput.TcPOU (98%)
 rename BasicComponents/{POUs/Components/AxisPTP => Components/AxisPTP/DUTs}/E_AXIS_PTP_STATE.TcDUT (97%)
 rename BasicComponents/{POUs/Components/AxisPTP => Components/AxisPTP/DUTs}/ST_AxisPTP_IO.TcDUT (100%)
 rename BasicComponents/{POUs/Components/AxisPTP => Components/AxisPTP/POUs}/FB_AxisPTP.TcPOU (89%)
 rename BasicComponents/{POUs/Components/Controller => Components/Controller/POUs}/FB_Limit.TcPOU (100%)
 rename BasicComponents/{POUs/Components/Controller => Components/Controller/POUs}/FB_PI.TcPOU (100%)
 rename BasicComponents/{POUs/Components/Controller => Components/Controller/POUs}/FB_PID.TcPOU (100%)
 rename BasicComponents/{POUs/Components/Controller => Components/Controller/POUs}/FB_RampGenerator.TcPOU (100%)
 rename BasicComponents/{POUs/Components/EventListener/Types => Components/EventListener/DUTs}/E_EventType.TcDUT (100%)
 rename BasicComponents/{POUs/Components/EventListener/Types => Components/EventListener/DUTs}/ST_BufferEventEntry.TcDUT (100%)
 rename BasicComponents/{POUs/Components/EventListener => Components/EventListener/POUs}/FB_EventListener.TcPOU (100%)
 rename BasicComponents/{POUs => }/Components/Motor/FB_MotorBecker.TcPOU (100%)
 rename BasicComponents/{POUs => }/Components/Motor/Types/ST_MOTOR_BECKER_CONFIG.TcDUT (100%)
 rename BasicComponents/{POUs => }/Components/Utilities/FB_AlarmMessage.TcPOU (100%)
 rename BasicComponents/{POUs => }/Components/Utilities/FB_Blinker.TcPOU (100%)
 rename BasicComponents/{POUs => }/Components/Utilities/FB_ReleaseSignal.TcPOU (100%)
 rename BasicComponents/{POUs => }/Components/Utilities/FC_HashFNV1a_32Bit.TcPOU (100%)
 rename BasicComponents/{POUs => }/Components/Utilities/F_GetTaskCycleTime.TcPOU (100%)
 rename BasicComponents/{POUs/Components/Valves/Types => Components/Valves/DUTs}/ST_ValveAnalogConfig.TcDUT (100%)
 create mode 100644 BasicComponents/Components/Valves/DUTs/ST_ValveAnalog_IO.TcDUT
 rename BasicComponents/{POUs/Components/Valves/Types => Components/Valves/DUTs}/ST_ValveConfig.TcDUT (100%)
 create mode 100644 BasicComponents/Components/Valves/DUTs/ST_Valve_IO.TcDUT
 rename BasicComponents/{POUs/Components/Valves => Components/Valves/POUs}/FB_Valve.TcPOU (96%)
 rename BasicComponents/{POUs/Components/Valves => Components/Valves/POUs}/FB_ValveAnalog.TcPOU (95%)
 rename BasicComponents/{POUs/GVL => GVLs}/GVL_CONFIGS.TcGVL (100%)
 rename BasicComponents/{POUs/Constants => GVLs}/GVL_TYPE_CONST.TcGVL (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/ST_HMI_ANALOG_MOTOR_DATA.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/ST_HMI_ANALOG_VALUE.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/ST_HMI_ANALOG_VALVE_DATA.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/ST_HMI_CONTROL_BUTTON.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/ST_HMI_INTEGER_VALUE.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/ST_HMI_INTERLOCK.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/ST_HMI_VALVE_DATA.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Datentypen/T_INTERLOCK.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Enum/E_HMI_ANALOG_VALUE_STATUS.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Enum/E_HMI_BUTTON_FEEDBACK.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Enum/E_HMI_MODE.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Enum/E_HMI_MOTOR_STATUS.TcDUT (100%)
 rename BasicComponents/{POUs => }/HMI/Enum/E_HMI_VALVE_STATUS.TcDUT (100%)
 rename BasicComponents/{POUs => }/PRG_MAIN.TcPOU (53%)
 rename BasicComponents/{POUs => }/Unittests/AITests/FB_AnalogInputTest.TcPOU (93%)
 rename BasicComponents/{POUs => }/Unittests/AOTests/FB_AnalogOutputTest.TcPOU (96%)
 rename BasicComponents/{POUs => }/Unittests/AnalogValveTests/FB_ValveAnalog_Test.TcPOU (93%)
 rename BasicComponents/{POUs => }/Unittests/ReleaseSignalTests/FB_ReleaseSignalTest.TcPOU (100%)
 rename BasicComponents/{POUs => }/Unittests/UtilitiesTests/FB_BlinkerTest.TcPOU (100%)
 rename BasicComponents/{POUs => }/Unittests/UtilitiesTests/FB_HashFNV1a_32BitTest.TcPOU (100%)
 rename BasicComponents/{POUs => }/Unittests/UtilitiesTests/FB_PT1Test.TcPOU (100%)
 rename BasicComponents/{POUs => }/Unittests/UtilitiesTests/FB_RampGeneratorTest.TcPOU (100%)
 rename BasicComponents/{POUs => }/Unittests/ValveTests/FB_ValveTestHMI.TcPOU (88%)
 rename BasicComponents/{POUs => }/Unittests/ValveTests/FB_ValveTestTimoutClose.TcPOU (89%)
 rename BasicComponents/{POUs => }/Unittests/ValveTests/FB_ValveTestTimoutOpen.TcPOU (89%)
 rename BasicComponents/{POUs => }/Unittests/ValveTests/FB_ValveTestTriggerTimoutClose.TcPOU (92%)
 rename BasicComponents/{POUs => }/Unittests/ValveTests/FB_ValveTestTriggerTimoutOpen.TcPOU (92%)
 rename BasicComponents/{POUs => }/Unittests/ValveTests/FB_Valve_Test.TcPOU (88%)

diff --git a/BaseComponents.tsproj b/BaseComponents.tsproj
index 2a3426e..5d534d2 100644
--- a/BaseComponents.tsproj
+++ b/BaseComponents.tsproj
@@ -136,357 +136,9 @@
 		</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="{CC57F9F8-FD4D-8A3D-E8DE-220E6C379AE4}" TmcPath="BasicComponents\BasicComponents.tmc">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{864A6F78-5663-9977-8C53-B90BFD312EA0}" TmcPath="BasicComponents\BasicComponents.tmc">
 					<Name>BasicComponents Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
-					<Vars VarGrpType="1">
-						<Name>PlcTask Inputs</Name>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOn.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOn.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOn.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOn.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOn.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOn.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOn.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOn.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOn.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOn.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOn.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOn.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOn.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOn.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOn.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOn.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOn.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOn.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOn.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOn.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOn.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOn.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOn.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOn.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOff.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOff.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOff.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorLowOff.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOff.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOff.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOff.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningLowOff.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOff.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOff.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOff.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIWarningHighOff.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOff.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOff.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOff.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIErrorHighOff.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOff.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOff.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOff.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIUnderrangeOff.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOff.iAnalogValue</Name>
-							<Comment><![CDATA[ Analog input value]]></Comment>
-							<Type>INT</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOff.xUnderrange</Name>
-							<Comment><![CDATA[ Card has detected an open circuit]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOff.xOverrange</Name>
-							<Comment><![CDATA[ Input is overloaded]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbAnalogInputTest._fbAIOverrangeOff.xErrorCard</Name>
-							<Comment><![CDATA[ Input card has error
- EL30xx also sets this if an underrange or overrange error is present]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestOpen._fbValveTimeout.xOpenFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestOpen._fbValveTimeout.xCloseFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestClose._fbValveTimeout.xOpenFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestClose._fbValveTimeout.xCloseFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerOpen._fbValveTimeout.xOpenFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerOpen._fbValveTimeout.xCloseFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerClose._fbValveTimeout.xOpenFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerClose._fbValveTimeout.xCloseFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValveTestHMI._fbValveOC.xOpenFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValveTestHMI._fbValveOC.xCloseFeedback</Name>
-							<Type>BOOL</Type>
-						</Var>
-					</Vars>
-					<Vars VarGrpType="2" AreaNo="1">
-						<Name>PlcTask Outputs</Name>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestOpen._fbValveTimeout.xOpenValve</Name>
-							<Comment><![CDATA[ Use xOpenValve for normally closed valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestOpen._fbValveTimeout.xCloseValve</Name>
-							<Comment><![CDATA[ Use xCloseValve for normally open valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestClose._fbValveTimeout.xOpenValve</Name>
-							<Comment><![CDATA[ Use xOpenValve for normally closed valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimeoutTestClose._fbValveTimeout.xCloseValve</Name>
-							<Comment><![CDATA[ Use xCloseValve for normally open valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerOpen._fbValveTimeout.xOpenValve</Name>
-							<Comment><![CDATA[ Use xOpenValve for normally closed valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerOpen._fbValveTimeout.xCloseValve</Name>
-							<Comment><![CDATA[ Use xCloseValve for normally open valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerClose._fbValveTimeout.xOpenValve</Name>
-							<Comment><![CDATA[ Use xOpenValve for normally closed valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValve_TimoutTriggerClose._fbValveTimeout.xCloseValve</Name>
-							<Comment><![CDATA[ Use xCloseValve for normally open valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValveTestHMI._fbValveOC.xOpenValve</Name>
-							<Comment><![CDATA[ Use xOpenValve for normally closed valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-						<Var>
-							<Name>PRG_MAIN._fbValveTestHMI._fbValveOC.xCloseValve</Name>
-							<Comment><![CDATA[ Use xCloseValve for normally open valves]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-					</Vars>
 					<Contexts>
 						<Context>
 							<Id>0</Id>
diff --git a/BasicComponents.library b/BasicComponents.library
index b8f96a4c9405605af7e8b2d8259bb88b6fd5fb54..8ba660df19a4d1ef4605fdfe616d1de09561a501 100644
GIT binary patch
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diff --git a/BasicComponents/BasicComponents.plcproj b/BasicComponents/BasicComponents.plcproj
index 14875d4..e505420 100644
--- a/BasicComponents/BasicComponents.plcproj
+++ b/BasicComponents/BasicComponents.plcproj
@@ -21,7 +21,7 @@
     <GlobalVersionStructureIncluded>false</GlobalVersionStructureIncluded>
     <Company>Heisig GmbH</Company>
     <Title>BaseComponents</Title>
-    <ProjectVersion>1.3.4</ProjectVersion>
+    <ProjectVersion>2.0.0</ProjectVersion>
     <DefaultNamespace>BC</DefaultNamespace>
     <Author>M.Heisig</Author>
     <Description>Basic components fb's (Valves, AI, AO, Motors, etc.)</Description>
@@ -45,218 +45,231 @@
     </SelectedLibraryCategories>
   </PropertyGroup>
   <ItemGroup>
+    <Compile Include="Components\Analog\DUTs\ST_AnalogInput_IO.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Analog\DUTs\ST_AnalogOutput_IO.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Analog\DUTs\ST_ANALOG_EW_CONFIG.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Analog\DUTs\ST_ANALOG_EW_DELAYS.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Analog\DUTs\ST_ANALOG_EW_LEVELS.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Analog\DUTs\ST_ANALOG_IO_CONFIG.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Analog\POUs\FB_AnalogInput.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Analog\POUs\FB_AnalogOutput.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\AxisPTP\DUTs\E_AXIS_PTP_STATE.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\AxisPTP\DUTs\ST_AxisPTP_IO.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\AxisPTP\POUs\FB_AxisPTP.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Controller\POUs\FB_Limit.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Controller\POUs\FB_PI.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Controller\POUs\FB_PID.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Controller\POUs\FB_RampGenerator.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\EventListener\DUTs\E_EventType.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\EventListener\DUTs\ST_BufferEventEntry.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\EventListener\POUs\FB_EventListener.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Motor\FB_MotorBecker.TcPOU">
+      <SubType>Code</SubType>
+      <ExcludeFromBuild>true</ExcludeFromBuild>
+    </Compile>
+    <Compile Include="Components\Motor\Types\ST_MOTOR_BECKER_CONFIG.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Utilities\FB_AlarmMessage.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Utilities\FB_Blinker.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Utilities\FB_ReleaseSignal.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Utilities\FC_HashFNV1a_32Bit.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Utilities\F_GetTaskCycleTime.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Valves\DUTs\ST_ValveAnalogConfig.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Valves\DUTs\ST_ValveAnalog_IO.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Valves\DUTs\ST_ValveConfig.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Valves\DUTs\ST_Valve_IO.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Valves\POUs\FB_Valve.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Components\Valves\POUs\FB_ValveAnalog.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="DUTs\E_CmdResult.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="GVLs\GVL_CONFIGS.TcGVL">
+      <SubType>Code</SubType>
+      <LinkAlways>true</LinkAlways>
+    </Compile>
+    <Compile Include="GVLs\GVL_TYPE_CONST.TcGVL">
+      <SubType>Code</SubType>
+      <LinkAlways>true</LinkAlways>
+    </Compile>
+    <Compile Include="HMI\Datentypen\ST_HMI_ANALOG_MOTOR_DATA.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Datentypen\ST_HMI_ANALOG_VALUE.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Datentypen\ST_HMI_ANALOG_VALVE_DATA.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Datentypen\ST_HMI_CONTROL_BUTTON.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Datentypen\ST_HMI_INTEGER_VALUE.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Datentypen\ST_HMI_INTERLOCK.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Datentypen\ST_HMI_VALVE_DATA.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Datentypen\T_INTERLOCK.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Enum\E_HMI_ANALOG_VALUE_STATUS.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Enum\E_HMI_BUTTON_FEEDBACK.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Enum\E_HMI_MODE.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Enum\E_HMI_MOTOR_STATUS.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="HMI\Enum\E_HMI_VALVE_STATUS.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="PlcTask.TcTTO">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Analog\FB_AnalogInput.TcPOU">
+    <Compile Include="PRG_MAIN.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Analog\FB_AnalogOutput.TcPOU">
+    <Compile Include="Unittests\AITests\FB_AnalogInputTest.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Analog\Types\ST_ANALOG_EW_CONFIG.TcDUT">
+    <Compile Include="Unittests\AnalogValveTests\FB_ValveAnalog_Test.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Analog\Types\ST_ANALOG_EW_DELAYS.TcDUT">
+    <Compile Include="Unittests\AOTests\FB_AnalogOutputTest.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Analog\Types\ST_ANALOG_EW_LEVELS.TcDUT">
+    <Compile Include="Unittests\ReleaseSignalTests\FB_ReleaseSignalTest.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Analog\Types\ST_ANALOG_IO_CONFIG.TcDUT">
+    <Compile Include="Unittests\UtilitiesTests\FB_BlinkerTest.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\AxisPTP\E_AXIS_PTP_STATE.TcDUT">
+    <Compile Include="Unittests\UtilitiesTests\FB_HashFNV1a_32BitTest.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\AxisPTP\FB_AxisPTP.TcPOU">
+    <Compile Include="Unittests\UtilitiesTests\FB_PT1Test.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\AxisPTP\ST_AxisPTP_IO.TcDUT">
+    <Compile Include="Unittests\UtilitiesTests\FB_RampGeneratorTest.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Controller\FB_Limit.TcPOU">
+    <Compile Include="Unittests\ValveTests\FB_ValveTestHMI.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Controller\FB_PI.TcPOU">
+    <Compile Include="Unittests\ValveTests\FB_ValveTestTimoutClose.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Controller\FB_PID.TcPOU">
+    <Compile Include="Unittests\ValveTests\FB_ValveTestTimoutOpen.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\Controller\FB_RampGenerator.TcPOU">
+    <Compile Include="Unittests\ValveTests\FB_ValveTestTriggerTimoutClose.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\EventListener\FB_EventListener.TcPOU">
+    <Compile Include="Unittests\ValveTests\FB_ValveTestTriggerTimoutOpen.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\EventListener\Types\E_EventType.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\EventListener\Types\ST_BufferEventEntry.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Motor\FB_MotorBecker.TcPOU">
-      <SubType>Code</SubType>
-      <ExcludeFromBuild>true</ExcludeFromBuild>
-    </Compile>
-    <Compile Include="POUs\Components\Motor\Types\ST_MOTOR_BECKER_CONFIG.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Utilities\FB_AlarmMessage.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Utilities\FB_Blinker.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Utilities\FB_ReleaseSignal.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Utilities\FC_HashFNV1a_32Bit.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Utilities\F_GetTaskCycleTime.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Valves\FB_Valve.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Valves\FB_ValveAnalog.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Valves\Types\ST_ValveAnalogConfig.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\Valves\Types\ST_ValveConfig.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Constants\GVL_TYPE_CONST.TcGVL">
-      <SubType>Code</SubType>
-      <LinkAlways>true</LinkAlways>
-    </Compile>
-    <Compile Include="POUs\GVL\GVL_CONFIGS.TcGVL">
-      <SubType>Code</SubType>
-      <LinkAlways>true</LinkAlways>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\ST_HMI_ANALOG_MOTOR_DATA.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\ST_HMI_ANALOG_VALUE.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\ST_HMI_ANALOG_VALVE_DATA.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\ST_HMI_CONTROL_BUTTON.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\ST_HMI_INTEGER_VALUE.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\ST_HMI_INTERLOCK.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\ST_HMI_VALVE_DATA.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Datentypen\T_INTERLOCK.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Enum\E_HMI_ANALOG_VALUE_STATUS.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Enum\E_HMI_BUTTON_FEEDBACK.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Enum\E_HMI_MODE.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Enum\E_HMI_MOTOR_STATUS.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\HMI\Enum\E_HMI_VALVE_STATUS.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\PRG_MAIN.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\AITests\FB_AnalogInputTest.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\AnalogValveTests\FB_ValveAnalog_Test.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\AOTests\FB_AnalogOutputTest.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\ReleaseSignalTests\FB_ReleaseSignalTest.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\UtilitiesTests\FB_BlinkerTest.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\UtilitiesTests\FB_HashFNV1a_32BitTest.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\UtilitiesTests\FB_PT1Test.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\UtilitiesTests\FB_RampGeneratorTest.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\ValveTests\FB_ValveTestHMI.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\ValveTests\FB_ValveTestTimoutClose.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\ValveTests\FB_ValveTestTimoutOpen.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\ValveTests\FB_ValveTestTriggerTimoutClose.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\ValveTests\FB_ValveTestTriggerTimoutOpen.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Unittests\ValveTests\FB_Valve_Test.TcPOU">
+    <Compile Include="Unittests\ValveTests\FB_Valve_Test.TcPOU">
       <SubType>Code</SubType>
     </Compile>
   </ItemGroup>
   <ItemGroup>
+    <Folder Include="Components" />
+    <Folder Include="Components\Analog" />
+    <Folder Include="Components\Analog\DUTs" />
+    <Folder Include="Components\Analog\POUs" />
+    <Folder Include="Components\AxisPTP" />
+    <Folder Include="Components\AxisPTP\DUTs" />
+    <Folder Include="Components\AxisPTP\POUs" />
+    <Folder Include="Components\Controller" />
+    <Folder Include="Components\Controller\POUs" />
+    <Folder Include="Components\EventListener" />
+    <Folder Include="Components\EventListener\DUTs" />
+    <Folder Include="Components\EventListener\POUs" />
+    <Folder Include="Components\Motor" />
+    <Folder Include="Components\Motor\Types" />
+    <Folder Include="Components\Utilities" />
+    <Folder Include="Components\Valves" />
+    <Folder Include="Components\Valves\DUTs" />
+    <Folder Include="Components\Valves\POUs" />
     <Folder Include="DUTs" />
     <Folder Include="GVLs" />
-    <Folder Include="POUs\Components\Analog" />
-    <Folder Include="POUs\Components\Analog\Types" />
-    <Folder Include="POUs\Components\AxisPTP" />
-    <Folder Include="POUs\Components\EventListener" />
-    <Folder Include="POUs\Components\EventListener\Types" />
-    <Folder Include="POUs\Components\Motor">
-      <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" />
-    <Folder Include="POUs\Constants" />
-    <Folder Include="POUs\HMI" />
-    <Folder Include="POUs\HMI\Datentypen" />
-    <Folder Include="POUs\HMI\Enum" />
-    <Folder Include="POUs\GVL" />
-    <Folder Include="POUs\Components" />
-    <Folder Include="POUs\Unittests\AnalogValveTests" />
-    <Folder Include="POUs\Unittests\ReleaseSignalTests" />
-    <Folder Include="POUs\Unittests\UtilitiesTests" />
-    <Folder Include="POUs\Unittests\ValveTests" />
-    <Folder Include="POUs\Unittests" />
-    <Folder Include="POUs\Unittests\AITests" />
-    <Folder Include="POUs\Unittests\AOTests" />
+    <Folder Include="HMI" />
+    <Folder Include="HMI\Datentypen" />
+    <Folder Include="HMI\Enum" />
+    <Folder Include="Unittests" />
+    <Folder Include="Unittests\AITests" />
+    <Folder Include="Unittests\AnalogValveTests" />
+    <Folder Include="Unittests\AOTests" />
+    <Folder Include="Unittests\ReleaseSignalTests" />
+    <Folder Include="Unittests\UtilitiesTests" />
+    <Folder Include="Unittests\ValveTests" />
     <Folder Include="VISUs" />
-    <Folder Include="POUs" />
   </ItemGroup>
   <ItemGroup>
     <PlaceholderReference Include="Tc2_MC2">
@@ -310,8 +323,8 @@
   <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" ckt="String" cvt="OptionKey">
         <v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -2692,16 +2705,16 @@
       </d>
       <d n="Values" t="Hashtable" />
     </o>
-        </Data>
-        <TypeList>
-          <Type n="Boolean">System.Boolean</Type>
-          <Type n="Hashtable">System.Collections.Hashtable</Type>
-          <Type n="Int32">System.Int32</Type>
-          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-          <Type n="String">System.String</Type>
-          <Type n="UInt32">System.UInt32</Type>
-        </TypeList>
-      </XmlArchive>
+  </Data>
+  <TypeList>
+    <Type n="Boolean">System.Boolean</Type>
+    <Type n="Hashtable">System.Collections.Hashtable</Type>
+    <Type n="Int32">System.Int32</Type>
+    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+    <Type n="String">System.String</Type>
+    <Type n="UInt32">System.UInt32</Type>
+  </TypeList>
+</XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>
\ No newline at end of file
diff --git a/BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_EW_CONFIG.TcDUT b/BasicComponents/Components/Analog/DUTs/ST_ANALOG_EW_CONFIG.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_EW_CONFIG.TcDUT
rename to BasicComponents/Components/Analog/DUTs/ST_ANALOG_EW_CONFIG.TcDUT
diff --git a/BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_EW_DELAYS.TcDUT b/BasicComponents/Components/Analog/DUTs/ST_ANALOG_EW_DELAYS.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_EW_DELAYS.TcDUT
rename to BasicComponents/Components/Analog/DUTs/ST_ANALOG_EW_DELAYS.TcDUT
diff --git a/BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_EW_LEVELS.TcDUT b/BasicComponents/Components/Analog/DUTs/ST_ANALOG_EW_LEVELS.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_EW_LEVELS.TcDUT
rename to BasicComponents/Components/Analog/DUTs/ST_ANALOG_EW_LEVELS.TcDUT
diff --git a/BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_IO_CONFIG.TcDUT b/BasicComponents/Components/Analog/DUTs/ST_ANALOG_IO_CONFIG.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/Analog/Types/ST_ANALOG_IO_CONFIG.TcDUT
rename to BasicComponents/Components/Analog/DUTs/ST_ANALOG_IO_CONFIG.TcDUT
diff --git a/BasicComponents/Components/Analog/DUTs/ST_AnalogInput_IO.TcDUT b/BasicComponents/Components/Analog/DUTs/ST_AnalogInput_IO.TcDUT
new file mode 100644
index 0000000..cca463b
--- /dev/null
+++ b/BasicComponents/Components/Analog/DUTs/ST_AnalogInput_IO.TcDUT
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_AnalogInput_IO" Id="{e5e1217a-3b79-46bd-82c2-c2132f6c3fab}">
+    <Declaration><![CDATA[TYPE ST_AnalogInput_IO :
+STRUCT
+	// Analog input value
+	i_iAnalogValue AT %I* : INT;
+	
+	// Card has detected an open circuit
+	i_xUnderrange AT%I* : BOOL;
+	
+	// Input is overloaded
+	i_xOverrange AT %I* : BOOL;
+	
+	// Input card has error
+	// EL30xx also sets this if an underrange or overrange error is present
+	i_xErrorCard AT %I* : BOOL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/BasicComponents/Components/Analog/DUTs/ST_AnalogOutput_IO.TcDUT b/BasicComponents/Components/Analog/DUTs/ST_AnalogOutput_IO.TcDUT
new file mode 100644
index 0000000..b493847
--- /dev/null
+++ b/BasicComponents/Components/Analog/DUTs/ST_AnalogOutput_IO.TcDUT
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_AnalogOutput_IO" Id="{1ae956eb-64b1-49ce-81a6-21db6ca74bc0}">
+    <Declaration><![CDATA[TYPE ST_AnalogOutput_IO :
+STRUCT
+	o_iAnalogValue AT %Q* : INT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/BasicComponents/POUs/Components/Analog/FB_AnalogInput.TcPOU b/BasicComponents/Components/Analog/POUs/FB_AnalogInput.TcPOU
similarity index 97%
rename from BasicComponents/POUs/Components/Analog/FB_AnalogInput.TcPOU
rename to BasicComponents/Components/Analog/POUs/FB_AnalogInput.TcPOU
index 1aeda2a..abf1b2a 100644
--- a/BasicComponents/POUs/Components/Analog/FB_AnalogInput.TcPOU
+++ b/BasicComponents/Components/Analog/POUs/FB_AnalogInput.TcPOU
@@ -3,19 +3,6 @@
   <POU Name="FB_AnalogInput" Id="{532e1013-5a2e-43c7-8863-3ad112d7d7e8}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_AnalogInput
 VAR_INPUT
-	// Analog input value
-	iAnalogValue AT %I* : INT;
-	
-	// Card has detected an open circuit
-	xUnderrange AT%I* : BOOL;
-	
-	// Input is overloaded
-	xOverrange AT %I* : BOOL;
-	
-	// Input card has error
-	// EL30xx also sets this if an underrange or overrange error is present
-	xErrorCard AT %I* : BOOL;
-	
 	// IO config data
 	stAnalogIOConfig : ST_ANALOG_IO_CONFIG;
 	
@@ -64,6 +51,9 @@ VAR_OUTPUT
 	//High level error
 	xErrorHigh : BOOL;
 END_VAR
+VAR_IN_OUT
+	stIO : ST_AnalogInput_IO;
+END_VAR
 VAR
 	// Scaling factor for conversion
 	_rConversionFactor : REAL;
@@ -210,7 +200,7 @@ END_IF
 // ========================
 
 // Clamp analogue input levels
-_iClampedAnalogValue := MAX(_iAIMin, iAnalogValue);
+_iClampedAnalogValue := MAX(_iAIMin, stIO.i_iAnalogValue);
 _iClampedAnalogValue := MIN(_iAIMax, _iClampedAnalogValue);
 
 // Calc scaled value
@@ -222,7 +212,7 @@ _rScaledValue := _iClampedAnalogValue * _rConversionFactor + _rBaseOffset;
 // =========================
 	
 _fbAlarmUnderrange(
-	xActive:= xUnderrange, 
+	xActive:= stIO.i_xUnderrange, 
 	xRelease:= stAnalogIOConfig.xUsed AND xReleaseErrors AND xReleaseHardwareErrors, 
 	xAcknowledge:= xConfirmAlarms, 
 	timOnDelay:= stAnalogEWConfig.stDelays.timHardwareSignalLevelOn, 
@@ -240,7 +230,7 @@ END_IF
 // =========================
 	
 _fbAlarmOverload(
-	xActive:= xOverrange, 
+	xActive:= stIO.i_xOverrange, 
 	xRelease:= stAnalogIOConfig.xUsed AND xReleaseErrors AND xReleaseHardwareErrors, 
 	xAcknowledge:= xConfirmAlarms, 
 	timOnDelay:= stAnalogEWConfig.stDelays.timHardwareSignalLevelOn, 
@@ -261,7 +251,7 @@ END_IF
 // EL30xx also sets this if an underrange or overrange error is present,
 // so we filter this out
 _fbAlarmCardError(
-	xActive:= xErrorCard AND (NOT xUnderrange) AND (NOT xOverrange), 
+	xActive:= stIO.i_xErrorCard AND (NOT stIO.i_xUnderrange) AND (NOT stIO.i_xOverrange), 
 	xRelease:= stAnalogIOConfig.xUsed AND xReleaseErrors AND xReleaseHardwareErrors, 
 	xAcknowledge:= xConfirmAlarms, 
 	timOnDelay:= stAnalogEWConfig.stDelays.timHardwareSignalLevelOn, 
diff --git a/BasicComponents/POUs/Components/Analog/FB_AnalogOutput.TcPOU b/BasicComponents/Components/Analog/POUs/FB_AnalogOutput.TcPOU
similarity index 98%
rename from BasicComponents/POUs/Components/Analog/FB_AnalogOutput.TcPOU
rename to BasicComponents/Components/Analog/POUs/FB_AnalogOutput.TcPOU
index 721f1b4..114e81e 100644
--- a/BasicComponents/POUs/Components/Analog/FB_AnalogOutput.TcPOU
+++ b/BasicComponents/Components/Analog/POUs/FB_AnalogOutput.TcPOU
@@ -21,12 +21,13 @@ VAR_INPUT
 	xInUnitTestMode : BOOL := FALSE;
 END_VAR
 VAR_OUTPUT
-	iAnalogValue AT %Q* : INT;
-	
 	// Error in function block
 	xError : BOOL;
 END_VAR
 VAR_IN_OUT
+	// IO
+	stIO : ST_AnalogOutput_IO;
+	
 	// HMI Interface
 	stHMIInterface : ST_HMI_ANALOG_VALUE;
 END_VAR
@@ -117,7 +118,7 @@ _rSetpointInternal := MIN(_rSetpointInternal, _rPVMax);
 
 // Calc scaled value
 _rTempAnalogValue := _rSetpointInternal * _rConversionFactor + _rBaseOffset;
-iAnalogValue := REAL_TO_INT(_rTempAnalogValue);
+stIO.o_iAnalogValue := REAL_TO_INT(_rTempAnalogValue);
 
 
 // ====================
diff --git a/BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT b/BasicComponents/Components/AxisPTP/DUTs/E_AXIS_PTP_STATE.TcDUT
similarity index 97%
rename from BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT
rename to BasicComponents/Components/AxisPTP/DUTs/E_AXIS_PTP_STATE.TcDUT
index 7814430..0178f6f 100644
--- a/BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT
+++ b/BasicComponents/Components/AxisPTP/DUTs/E_AXIS_PTP_STATE.TcDUT
@@ -19,6 +19,7 @@ TYPE E_AXIS_PTP_STATE :
 	WAIT_MOVING_RELATIVE,
 	START_MOVING_VELOCITY,
 	WAIT_MOVING_VELOCITY,
+	MOVING_VELO,
 	START_MOVING_MODULO,
 	WAIT_MOVING_MODULO,
 	START_HALTING,
diff --git a/BasicComponents/POUs/Components/AxisPTP/ST_AxisPTP_IO.TcDUT b/BasicComponents/Components/AxisPTP/DUTs/ST_AxisPTP_IO.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/AxisPTP/ST_AxisPTP_IO.TcDUT
rename to BasicComponents/Components/AxisPTP/DUTs/ST_AxisPTP_IO.TcDUT
diff --git a/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU b/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
similarity index 89%
rename from BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
rename to BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
index 6232180..71852e4 100644
--- a/BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
+++ b/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
@@ -242,9 +242,7 @@ CASE _eState OF
 	E_AXIS_PTP_STATE.WAIT_MOVING_VELOCITY:
 		IF _fbMoveVelocity.Busy THEN
 			_fbMoveVelocity.Execute := FALSE;
-			xBusy := FALSE;
-			xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.IDLE;
+			_eState := E_AXIS_PTP_STATE.MOVING_VELO;
 		END_IF
 		
 		IF _fbMoveVelocity.Error THEN
@@ -252,75 +250,100 @@ CASE _eState OF
 			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 		
+	E_AXIS_PTP_STATE.MOVING_VELO:
+		IF _fbMoveVelocity.Error THEN
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
+		END_IF
+		
 
-	E_AXIS_PTP_STATE.MOVING_MODULO:
+	// =============
+	// Move modulo
+	// =============
+	E_AXIS_PTP_STATE.START_MOVING_MODULO:
+		_fbMoveModulo.Execute := TRUE;
+		_eState := E_AXIS_PTP_STATE.WAIT_MOVING_MODULO;
+	
+	E_AXIS_PTP_STATE.WAIT_MOVING_MODULO:
 		IF _fbMoveModulo.Done THEN
-			_xStartMoveModulo := FALSE;
-			_xBusy := FALSE;
-			_xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
+			_fbMoveModulo.Execute := FALSE;
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
 		END_IF
 		
-		IF _xExecuteHalt THEN
-			_xExecuteHalt := FALSE;
-			_xStartMoveModulo := FALSE;
-			_xHalt := TRUE;
-			_eState := E_AXIS_PTP_STATE.HALTING;
-		END_IF
-		
-		IF _xError THEN
-			_xStartMoveModulo := FALSE;
+		IF _fbMoveModulo.Error THEN
+			_fbMoveModulo.Execute := FALSE;
 			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 	
+	// =======
+	// Halting
+	// =======
+	E_AXIS_PTP_STATE.START_HALTING:
+		_fbHalt.Execute := TRUE;
+		_eState := E_AXIS_PTP_STATE.WAIT_HALTING;
 	
-	E_AXIS_PTP_STATE.HALTING:
-		IF (NOT _fbHalt.Busy) AND (NOT _xError) THEN
-			_xHalt := FALSE;
-			_xBusy := FALSE;
-			_xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
+	E_AXIS_PTP_STATE.WAIT_HALTING:
+		IF _fbHalt.Done THEN
+			_fbHalt.Execute := FALSE;
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
 		END_IF
 		
-		IF _xError THEN
+		IF _fbHalt.Error THEN
+			_fbHalt.Execute := FALSE;
 			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 	
 		
-	E_AXIS_PTP_STATE.WAIT_FOR_DISABLE:
-		IF (NOT _fbPower.Status) AND (NOT _xError) THEN
-			_xBusy := FALSE;
-			_xDone := TRUE;
-			_eState := E_AXIS_PTP_STATE.OFF;
+	// ==========
+	// Disableing
+	// ==========
+	E_AXIS_PTP_STATE.START_DISABLE:
+		_fbPower.Enable := FALSE;
+		_eState := E_AXIS_PTP_STATE.WAIT_DISABLE;
+		
+	E_AXIS_PTP_STATE.WAIT_DISABLE:
+		IF (NOT _fbPower.Status) THEN
+			xBusy := FALSE;
+			xDone := TRUE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
 		END_IF
 		
-		IF _xError THEN
+		IF _fbPower.Error THEN
 			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
-	
+		
+		
+	// =====
+	// Error
+	// =====
 	E_AXIS_PTP_STATE.ENTER_ERROR:
 		xError := TRUE;
 		xBusy := FALSE;
 		xDone := FALSE;
-		
 		_eState := E_AXIS_PTP_STATE.ERROR;
 	
 	E_AXIS_PTP_STATE.ERROR:
 		IF xConfirmAlarms THEN
-			_xReset := TRUE;
+			_fbReset.Execute := TRUE;
 			_eState := E_AXIS_PTP_STATE.RESET;
 		END_IF
 	
-	
 	E_AXIS_PTP_STATE.RESET:
 		IF _fbReset.Done THEN
-			_xReset := FALSE;
-			_eState := E_AXIS_PTP_STATE.OFF;
+			_fbReset.Execute := FALSE;
+			_eState := E_AXIS_PTP_STATE.IDLE;
+		END_IF
+		
+		IF _fbReset.Error THEN
+			_fbReset.Execute := FALSE;
+			_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 		END_IF
 
-
 	ELSE
-		_eState := E_AXIS_PTP_STATE.ERROR;
+		_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
 END_CASE
 
 
diff --git a/BasicComponents/POUs/Components/Controller/FB_Limit.TcPOU b/BasicComponents/Components/Controller/POUs/FB_Limit.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Controller/FB_Limit.TcPOU
rename to BasicComponents/Components/Controller/POUs/FB_Limit.TcPOU
diff --git a/BasicComponents/POUs/Components/Controller/FB_PI.TcPOU b/BasicComponents/Components/Controller/POUs/FB_PI.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Controller/FB_PI.TcPOU
rename to BasicComponents/Components/Controller/POUs/FB_PI.TcPOU
diff --git a/BasicComponents/POUs/Components/Controller/FB_PID.TcPOU b/BasicComponents/Components/Controller/POUs/FB_PID.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Controller/FB_PID.TcPOU
rename to BasicComponents/Components/Controller/POUs/FB_PID.TcPOU
diff --git a/BasicComponents/POUs/Components/Controller/FB_RampGenerator.TcPOU b/BasicComponents/Components/Controller/POUs/FB_RampGenerator.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Controller/FB_RampGenerator.TcPOU
rename to BasicComponents/Components/Controller/POUs/FB_RampGenerator.TcPOU
diff --git a/BasicComponents/POUs/Components/EventListener/Types/E_EventType.TcDUT b/BasicComponents/Components/EventListener/DUTs/E_EventType.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/EventListener/Types/E_EventType.TcDUT
rename to BasicComponents/Components/EventListener/DUTs/E_EventType.TcDUT
diff --git a/BasicComponents/POUs/Components/EventListener/Types/ST_BufferEventEntry.TcDUT b/BasicComponents/Components/EventListener/DUTs/ST_BufferEventEntry.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/EventListener/Types/ST_BufferEventEntry.TcDUT
rename to BasicComponents/Components/EventListener/DUTs/ST_BufferEventEntry.TcDUT
diff --git a/BasicComponents/POUs/Components/EventListener/FB_EventListener.TcPOU b/BasicComponents/Components/EventListener/POUs/FB_EventListener.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/EventListener/FB_EventListener.TcPOU
rename to BasicComponents/Components/EventListener/POUs/FB_EventListener.TcPOU
diff --git a/BasicComponents/POUs/Components/Motor/FB_MotorBecker.TcPOU b/BasicComponents/Components/Motor/FB_MotorBecker.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Motor/FB_MotorBecker.TcPOU
rename to BasicComponents/Components/Motor/FB_MotorBecker.TcPOU
diff --git a/BasicComponents/POUs/Components/Motor/Types/ST_MOTOR_BECKER_CONFIG.TcDUT b/BasicComponents/Components/Motor/Types/ST_MOTOR_BECKER_CONFIG.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/Motor/Types/ST_MOTOR_BECKER_CONFIG.TcDUT
rename to BasicComponents/Components/Motor/Types/ST_MOTOR_BECKER_CONFIG.TcDUT
diff --git a/BasicComponents/POUs/Components/Utilities/FB_AlarmMessage.TcPOU b/BasicComponents/Components/Utilities/FB_AlarmMessage.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Utilities/FB_AlarmMessage.TcPOU
rename to BasicComponents/Components/Utilities/FB_AlarmMessage.TcPOU
diff --git a/BasicComponents/POUs/Components/Utilities/FB_Blinker.TcPOU b/BasicComponents/Components/Utilities/FB_Blinker.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Utilities/FB_Blinker.TcPOU
rename to BasicComponents/Components/Utilities/FB_Blinker.TcPOU
diff --git a/BasicComponents/POUs/Components/Utilities/FB_ReleaseSignal.TcPOU b/BasicComponents/Components/Utilities/FB_ReleaseSignal.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Utilities/FB_ReleaseSignal.TcPOU
rename to BasicComponents/Components/Utilities/FB_ReleaseSignal.TcPOU
diff --git a/BasicComponents/POUs/Components/Utilities/FC_HashFNV1a_32Bit.TcPOU b/BasicComponents/Components/Utilities/FC_HashFNV1a_32Bit.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Utilities/FC_HashFNV1a_32Bit.TcPOU
rename to BasicComponents/Components/Utilities/FC_HashFNV1a_32Bit.TcPOU
diff --git a/BasicComponents/POUs/Components/Utilities/F_GetTaskCycleTime.TcPOU b/BasicComponents/Components/Utilities/F_GetTaskCycleTime.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Components/Utilities/F_GetTaskCycleTime.TcPOU
rename to BasicComponents/Components/Utilities/F_GetTaskCycleTime.TcPOU
diff --git a/BasicComponents/POUs/Components/Valves/Types/ST_ValveAnalogConfig.TcDUT b/BasicComponents/Components/Valves/DUTs/ST_ValveAnalogConfig.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/Valves/Types/ST_ValveAnalogConfig.TcDUT
rename to BasicComponents/Components/Valves/DUTs/ST_ValveAnalogConfig.TcDUT
diff --git a/BasicComponents/Components/Valves/DUTs/ST_ValveAnalog_IO.TcDUT b/BasicComponents/Components/Valves/DUTs/ST_ValveAnalog_IO.TcDUT
new file mode 100644
index 0000000..e7a5fa6
--- /dev/null
+++ b/BasicComponents/Components/Valves/DUTs/ST_ValveAnalog_IO.TcDUT
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_ValveAnalog_IO" Id="{f148b3f6-7dc4-47f9-ae19-f3b88577c5b3}">
+    <Declaration><![CDATA[TYPE ST_ValveAnalog_IO :
+STRUCT
+	stAnalogInputIO : ST_AnalogInput_IO;
+
+	i_xOpenFeedback AT %I* : BOOL;
+	i_xCloseFeedback AT %I* : BOOL;
+	
+	stAnalogOutputIO : ST_AnalogOutput_IO;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/BasicComponents/POUs/Components/Valves/Types/ST_ValveConfig.TcDUT b/BasicComponents/Components/Valves/DUTs/ST_ValveConfig.TcDUT
similarity index 100%
rename from BasicComponents/POUs/Components/Valves/Types/ST_ValveConfig.TcDUT
rename to BasicComponents/Components/Valves/DUTs/ST_ValveConfig.TcDUT
diff --git a/BasicComponents/Components/Valves/DUTs/ST_Valve_IO.TcDUT b/BasicComponents/Components/Valves/DUTs/ST_Valve_IO.TcDUT
new file mode 100644
index 0000000..8f67b51
--- /dev/null
+++ b/BasicComponents/Components/Valves/DUTs/ST_Valve_IO.TcDUT
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Valve_IO" Id="{f1913d56-9cee-47f4-8fd9-831b29501390}">
+    <Declaration><![CDATA[TYPE ST_Valve_IO :
+STRUCT
+	// Valve is closed feedback
+	i_xOpenFeedback AT %I* : BOOL;
+	
+	// Valve is open feedback
+	i_xCloseFeedback AT %I* : BOOL;
+	
+	// Use xOpenValve for normally closed valves
+	o_xOpenValve AT %Q* : BOOL := FALSE;
+	
+	// Use xCloseValve for normally open valves
+	o_xCloseValve AT %Q* : BOOL := TRUE;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/BasicComponents/POUs/Components/Valves/FB_Valve.TcPOU b/BasicComponents/Components/Valves/POUs/FB_Valve.TcPOU
similarity index 96%
rename from BasicComponents/POUs/Components/Valves/FB_Valve.TcPOU
rename to BasicComponents/Components/Valves/POUs/FB_Valve.TcPOU
index 7360b4c..ef7271e 100644
--- a/BasicComponents/POUs/Components/Valves/FB_Valve.TcPOU
+++ b/BasicComponents/Components/Valves/POUs/FB_Valve.TcPOU
@@ -3,8 +3,7 @@
   <POU Name="FB_Valve" Id="{658f8bac-5e87-43a2-9b4c-a425a60acda2}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_Valve
 VAR_INPUT
-	xOpenFeedback AT %I* : BOOL;
-	xCloseFeedback AT %I* : BOOL;
+	
 	
 	// Open and close the valve
 	xAutomaticOpen : BOOL;
@@ -38,16 +37,13 @@ VAR_INPUT
 	xInUnitTestMode : BOOL := FALSE;
 END_VAR
 VAR_OUTPUT
-	// Use xOpenValve for normally closed valves
-	xOpenValve AT %Q* : BOOL := FALSE;
-	
-	// Use xCloseValve for normally open valves
-	xCloseValve AT %Q* : BOOL := TRUE;
-	
 	// Error in valve active
 	xError : BOOL;
 END_VAR
 VAR_IN_OUT
+	// IO
+	stIO : ST_Valve_IO;
+	
 	// HMI interface
 	stHMIInterface : ST_HMI_VALVE_DATA;
 END_VAR
@@ -153,8 +149,8 @@ IF (NOT _xProcessINTLKOk) OR (NOT _xSafetyINTLKOk) THEN
 END_IF
 
 // Handle open close feedback
-_xIsOpen := (stValveConfig.xHasOpenFeedback AND xOpenFeedback AND (NOT xCloseFeedback)) OR ((NOT stValveConfig.xHasOpenFeedback) AND _xOpenValve);
-_xIsClosed := (stValveConfig.xHasClosedFeedback AND xCloseFeedback AND (NOT xOpenFeedback)) OR ((NOT stValveConfig.xHasClosedFeedback) AND (NOT _xOpenValve));
+_xIsOpen := (stValveConfig.xHasOpenFeedback AND stIO.i_xOpenFeedback AND (NOT stIO.i_xCloseFeedback)) OR ((NOT stValveConfig.xHasOpenFeedback) AND _xOpenValve);
+_xIsClosed := (stValveConfig.xHasClosedFeedback AND stIO.i_xCloseFeedback AND (NOT stIO.i_xOpenFeedback)) OR ((NOT stValveConfig.xHasClosedFeedback) AND (NOT _xOpenValve));
 
 
 // ===========================
@@ -209,8 +205,8 @@ END_IF
 // Copy internal signals to outputs
 // ================================
 
-xOpenValve := _xOpenValve;
-xCloseValve := (NOT _xOpenValve);
+stIO.o_xOpenValve := _xOpenValve;
+stIO.o_xCloseValve := (NOT _xOpenValve);
 
 xError := _xError;
 
diff --git a/BasicComponents/POUs/Components/Valves/FB_ValveAnalog.TcPOU b/BasicComponents/Components/Valves/POUs/FB_ValveAnalog.TcPOU
similarity index 95%
rename from BasicComponents/POUs/Components/Valves/FB_ValveAnalog.TcPOU
rename to BasicComponents/Components/Valves/POUs/FB_ValveAnalog.TcPOU
index 2d6372a..a6218f7 100644
--- a/BasicComponents/POUs/Components/Valves/FB_ValveAnalog.TcPOU
+++ b/BasicComponents/Components/Valves/POUs/FB_ValveAnalog.TcPOU
@@ -6,14 +6,6 @@ FUNCTION_BLOCK FINAL FB_ValveAnalog
 VAR_INPUT
 	rSPAutomatic : REAL;	
 
-	iFeedbackValue AT %I* : INT;
-	xFeedbackUnderrange AT %I* : BOOL;
-	xFeedbackOverrange AT %I* : BOOL;
-	xErrorCard AT %I* : BOOL;
-
-	xOpenFeedback AT %I* : BOOL;
-	xCloseFeedback AT %I* : BOOL;
-	
 	// Open and close the valve
 	xAutomaticOpen : BOOL;
 	
@@ -46,13 +38,14 @@ VAR_INPUT
 	xInUnitTestMode : BOOL := FALSE;
 END_VAR
 VAR_OUTPUT
-	// Ouput setpoint
-	iSetpoint AT %Q* : INT;
 	
 	// Error in valve active
 	xError : BOOL;
 END_VAR
 VAR_IN_OUT
+	// IO
+	stIO : ST_ValveAnalog_IO;
+	
 	// HMI interface
 	stHMIInterface : ST_HMI_ANALOG_VALVE_DATA;
 END_VAR
@@ -231,8 +224,8 @@ _fbAnalogOutput(
 	xReleaseErrors:= xReleaseErrors, 
 	xConfirmAlarms:= xConfirmAlarms, 
 	xInUnitTestMode := xInUnitTestMode,
-	iAnalogValue=> iSetpoint, 
 	xError => _xAnalogOutputError,
+	stIO := stIO.stAnalogOutputIO,
 	stHMIInterface:= stHMIInterface.stSetpoint);
 	
 IF _fbAnalogOutput.xError THEN
@@ -250,10 +243,6 @@ ELSE
 END_IF
 
 _fbAnalogInput(
-	iAnalogValue:= iFeedbackValue, 
-	xUnderrange:= _xHasUnderrangeFeedback AND xFeedbackUnderrange, 
-	xOverrange:= _xHasOverrangeFeedback AND xFeedbackOverrange, 
-	xErrorCard:= _xHasCardError AND xErrorCard, 
 	stAnalogIOConfig:= stValveConfig.stAnalogInputConfig, 
 	stAnalogEWConfig:= stValveConfig.stAnalogInputEWConfig, 
 	xReleaseErrors:= xReleaseErrors, 
@@ -267,7 +256,8 @@ _fbAnalogInput(
 	xErrorLow=> , 
 	xWarningLow=> , 
 	xWarningHigh=> , 
-	xErrorHigh=> );
+	xErrorHigh=> ,
+	stIO := stIO.stAnalogInputIO);
 
 IF _fbAnalogInput.xError THEN
 	_xError := TRUE;
@@ -279,8 +269,8 @@ END_IF
 
 
 // Handle open close feedback
-_xIsOpen := (stValveConfig.xHasOpenFeedback AND xOpenFeedback AND (NOT xCloseFeedback)) OR ((NOT stValveConfig.xHasOpenFeedback) AND (_rCurrentValvePosition >= stValveConfig.rPVIsOpen));
-_xIsClosed := (stValveConfig.xHasClosedFeedback AND xCloseFeedback AND (NOT xOpenFeedback)) OR ((NOT stValveConfig.xHasClosedFeedback) AND (_rCurrentValvePosition <= stValveConfig.rPVIsOpen));
+_xIsOpen := (stValveConfig.xHasOpenFeedback AND stIO.i_xOpenFeedback AND (NOT stIO.i_xCloseFeedback)) OR ((NOT stValveConfig.xHasOpenFeedback) AND (_rCurrentValvePosition >= stValveConfig.rPVIsOpen));
+_xIsClosed := (stValveConfig.xHasClosedFeedback AND stIO.i_xCloseFeedback AND (NOT stIO.i_xOpenFeedback)) OR ((NOT stValveConfig.xHasClosedFeedback) AND (_rCurrentValvePosition <= stValveConfig.rPVIsOpen));
 
 
 // Calculate target tolerance
diff --git a/BasicComponents/POUs/GVL/GVL_CONFIGS.TcGVL b/BasicComponents/GVLs/GVL_CONFIGS.TcGVL
similarity index 100%
rename from BasicComponents/POUs/GVL/GVL_CONFIGS.TcGVL
rename to BasicComponents/GVLs/GVL_CONFIGS.TcGVL
diff --git a/BasicComponents/POUs/Constants/GVL_TYPE_CONST.TcGVL b/BasicComponents/GVLs/GVL_TYPE_CONST.TcGVL
similarity index 100%
rename from BasicComponents/POUs/Constants/GVL_TYPE_CONST.TcGVL
rename to BasicComponents/GVLs/GVL_TYPE_CONST.TcGVL
diff --git a/BasicComponents/POUs/HMI/Datentypen/ST_HMI_ANALOG_MOTOR_DATA.TcDUT b/BasicComponents/HMI/Datentypen/ST_HMI_ANALOG_MOTOR_DATA.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/ST_HMI_ANALOG_MOTOR_DATA.TcDUT
rename to BasicComponents/HMI/Datentypen/ST_HMI_ANALOG_MOTOR_DATA.TcDUT
diff --git a/BasicComponents/POUs/HMI/Datentypen/ST_HMI_ANALOG_VALUE.TcDUT b/BasicComponents/HMI/Datentypen/ST_HMI_ANALOG_VALUE.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/ST_HMI_ANALOG_VALUE.TcDUT
rename to BasicComponents/HMI/Datentypen/ST_HMI_ANALOG_VALUE.TcDUT
diff --git a/BasicComponents/POUs/HMI/Datentypen/ST_HMI_ANALOG_VALVE_DATA.TcDUT b/BasicComponents/HMI/Datentypen/ST_HMI_ANALOG_VALVE_DATA.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/ST_HMI_ANALOG_VALVE_DATA.TcDUT
rename to BasicComponents/HMI/Datentypen/ST_HMI_ANALOG_VALVE_DATA.TcDUT
diff --git a/BasicComponents/POUs/HMI/Datentypen/ST_HMI_CONTROL_BUTTON.TcDUT b/BasicComponents/HMI/Datentypen/ST_HMI_CONTROL_BUTTON.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/ST_HMI_CONTROL_BUTTON.TcDUT
rename to BasicComponents/HMI/Datentypen/ST_HMI_CONTROL_BUTTON.TcDUT
diff --git a/BasicComponents/POUs/HMI/Datentypen/ST_HMI_INTEGER_VALUE.TcDUT b/BasicComponents/HMI/Datentypen/ST_HMI_INTEGER_VALUE.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/ST_HMI_INTEGER_VALUE.TcDUT
rename to BasicComponents/HMI/Datentypen/ST_HMI_INTEGER_VALUE.TcDUT
diff --git a/BasicComponents/POUs/HMI/Datentypen/ST_HMI_INTERLOCK.TcDUT b/BasicComponents/HMI/Datentypen/ST_HMI_INTERLOCK.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/ST_HMI_INTERLOCK.TcDUT
rename to BasicComponents/HMI/Datentypen/ST_HMI_INTERLOCK.TcDUT
diff --git a/BasicComponents/POUs/HMI/Datentypen/ST_HMI_VALVE_DATA.TcDUT b/BasicComponents/HMI/Datentypen/ST_HMI_VALVE_DATA.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/ST_HMI_VALVE_DATA.TcDUT
rename to BasicComponents/HMI/Datentypen/ST_HMI_VALVE_DATA.TcDUT
diff --git a/BasicComponents/POUs/HMI/Datentypen/T_INTERLOCK.TcDUT b/BasicComponents/HMI/Datentypen/T_INTERLOCK.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Datentypen/T_INTERLOCK.TcDUT
rename to BasicComponents/HMI/Datentypen/T_INTERLOCK.TcDUT
diff --git a/BasicComponents/POUs/HMI/Enum/E_HMI_ANALOG_VALUE_STATUS.TcDUT b/BasicComponents/HMI/Enum/E_HMI_ANALOG_VALUE_STATUS.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Enum/E_HMI_ANALOG_VALUE_STATUS.TcDUT
rename to BasicComponents/HMI/Enum/E_HMI_ANALOG_VALUE_STATUS.TcDUT
diff --git a/BasicComponents/POUs/HMI/Enum/E_HMI_BUTTON_FEEDBACK.TcDUT b/BasicComponents/HMI/Enum/E_HMI_BUTTON_FEEDBACK.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Enum/E_HMI_BUTTON_FEEDBACK.TcDUT
rename to BasicComponents/HMI/Enum/E_HMI_BUTTON_FEEDBACK.TcDUT
diff --git a/BasicComponents/POUs/HMI/Enum/E_HMI_MODE.TcDUT b/BasicComponents/HMI/Enum/E_HMI_MODE.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Enum/E_HMI_MODE.TcDUT
rename to BasicComponents/HMI/Enum/E_HMI_MODE.TcDUT
diff --git a/BasicComponents/POUs/HMI/Enum/E_HMI_MOTOR_STATUS.TcDUT b/BasicComponents/HMI/Enum/E_HMI_MOTOR_STATUS.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Enum/E_HMI_MOTOR_STATUS.TcDUT
rename to BasicComponents/HMI/Enum/E_HMI_MOTOR_STATUS.TcDUT
diff --git a/BasicComponents/POUs/HMI/Enum/E_HMI_VALVE_STATUS.TcDUT b/BasicComponents/HMI/Enum/E_HMI_VALVE_STATUS.TcDUT
similarity index 100%
rename from BasicComponents/POUs/HMI/Enum/E_HMI_VALVE_STATUS.TcDUT
rename to BasicComponents/HMI/Enum/E_HMI_VALVE_STATUS.TcDUT
diff --git a/BasicComponents/POUs/PRG_MAIN.TcPOU b/BasicComponents/PRG_MAIN.TcPOU
similarity index 53%
rename from BasicComponents/POUs/PRG_MAIN.TcPOU
rename to BasicComponents/PRG_MAIN.TcPOU
index 75b1bcd..a90dad3 100644
--- a/BasicComponents/POUs/PRG_MAIN.TcPOU
+++ b/BasicComponents/PRG_MAIN.TcPOU
@@ -4,20 +4,20 @@
     <Declaration><![CDATA[{attribute 'analysis' := '-33'}
 PROGRAM PRG_MAIN
 VAR
-	// Analog I/O tests
-	_fbAnalogInputTest : FB_AnalogInputTest;
-	_fbAnalogOutputTest : FB_AnalogOutputTest;
-	
-	// Valve tests
-	_fbValve_Test : FB_Valve_Test;
-	_fbValve_TimeoutTestOpen : FB_ValveTestTimoutOpen;
-	_fbValve_TimeoutTestClose : FB_ValveTestTimoutClose;
-	_fbValve_TimoutTriggerOpen : FB_ValveTestTriggerTimoutOpen;
-	_fbValve_TimoutTriggerClose : FB_ValveTestTriggerTimoutClose;
-	
-	_fbValveAnalogTest : FB_ValveAnalog_Test;
-	
-	_fbValveTestHMI : FB_ValveTestHMI;
+// 	// Analog I/O tests
+// 	_fbAnalogInputTest : FB_AnalogInputTest;
+// 	_fbAnalogOutputTest : FB_AnalogOutputTest;
+// 	
+// 	// Valve tests
+// 	_fbValve_Test : FB_Valve_Test;
+// 	_fbValve_TimeoutTestOpen : FB_ValveTestTimoutOpen;
+// 	_fbValve_TimeoutTestClose : FB_ValveTestTimoutClose;
+// 	_fbValve_TimoutTriggerOpen : FB_ValveTestTriggerTimoutOpen;
+// 	_fbValve_TimoutTriggerClose : FB_ValveTestTriggerTimoutClose;
+// 	
+// 	_fbValveAnalogTest : FB_ValveAnalog_Test;
+// 	
+// 	_fbValveTestHMI : FB_ValveTestHMI;
 	
 	// Release signal test
 	_fbReleaseSignalTest : FB_ReleaseSignalTest;
diff --git a/BasicComponents/POUs/Unittests/AITests/FB_AnalogInputTest.TcPOU b/BasicComponents/Unittests/AITests/FB_AnalogInputTest.TcPOU
similarity index 93%
rename from BasicComponents/POUs/Unittests/AITests/FB_AnalogInputTest.TcPOU
rename to BasicComponents/Unittests/AITests/FB_AnalogInputTest.TcPOU
index d7dd316..0a651f3 100644
--- a/BasicComponents/POUs/Unittests/AITests/FB_AnalogInputTest.TcPOU
+++ b/BasicComponents/Unittests/AITests/FB_AnalogInputTest.TcPOU
@@ -131,13 +131,13 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // run analog input
 _fbAnalogInput(
-	iAnalogValue := 1234,
+	i_iAnalogValue := 1234,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
 	xReleaseLimitErrors := TRUE,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE,
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE,
 	xInUnitTestMode := TRUE, 
 	xError=> _xError,
 	rScaledValue=> );
@@ -179,13 +179,13 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // run analog input
 _fbAnalogInput(
-	iAnalogValue:= 1234,
+	i_iAnalogValue:= 1234,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
 	xReleaseLimitErrors := TRUE,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xInUnitTestMode := TRUE,
 	xError=> _xError, 
 	rScaledValue=> );
@@ -229,12 +229,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // run analog input
 _fbAnalogInput(
-	iAnalogValue:= 1234,
+	i_iAnalogValue:= 1234,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xInUnitTestMode := TRUE,
 	xError=> _xError, 
 	rScaledValue=> _rResult);
@@ -281,12 +281,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // Check with active release signal
 _fbAI(
-	iAnalogValue:= 95,
+	i_iAnalogValue:= 95,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -304,10 +304,10 @@ AssertTrue(Condition:= _xResultErrorHigh, Message:= 'Error high is not active');
 
 // Check without active release signal
 _fbAI(
-	iAnalogValue:= 95, 
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_iAnalogValue:= 95, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= FALSE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -365,12 +365,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 IF NOT _xErrorHighOffInitDone THEN
 	_xErrorHighOffInitDone := TRUE;
 	_fbAIErrorHighOff(
-		iAnalogValue:= 95,
+		i_iAnalogValue:= 95,
 		stAnalogIOConfig := _stAnalogInputConfig,
 		stAnalogEWConfig := _stAnalogEWConfig,
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -382,10 +382,10 @@ IF NOT _xErrorHighOffInitDone THEN
 ELSE
 	_fbErrorHighOffTimer(IN := TRUE, PT := timOffTime);
 	_fbAIErrorHighOff(
-		iAnalogValue:= 50, 
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_iAnalogValue:= 50, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -454,12 +454,12 @@ _fbErrorHighOnTimer(IN := TRUE, PT := timOnTime);
 
 // Check with active release signal
 _fbAIErrorHighOn(
-	iAnalogValue:= 95,
+	i_iAnalogValue:= 95,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -518,12 +518,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // Error low with release
 _fbAI(
-	iAnalogValue:= 0,
+	i_iAnalogValue:= 0,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -542,10 +542,10 @@ AssertFalse(Condition:= _xResultErrorHigh, Message:= 'Error high is active');
 
 // Error low without release
 _fbAI(
-	iAnalogValue:= 0, 
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_iAnalogValue:= 0, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= FALSE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -602,12 +602,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 IF NOT _xErrorLowOffInitDone THEN
 	_xErrorLowOffInitDone := TRUE;
 	_fbAIErrorLowOff(
-		iAnalogValue:= 5,
+		i_iAnalogValue:= 5,
 		stAnalogIOConfig := _stAnalogInputConfig,
 		stAnalogEWConfig := _stAnalogEWConfig,
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -619,10 +619,10 @@ IF NOT _xErrorLowOffInitDone THEN
 ELSE
 	_fbErrorLowOffTimer(IN := TRUE, PT := timOffTime);
 	_fbAIErrorLowOff(
-		iAnalogValue:= 50, 
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_iAnalogValue:= 50, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -688,12 +688,12 @@ _fbErrorLowOnTimer(IN := TRUE, PT := timOnTime);
 
 // Check with active release signal
 _fbAIErrorLowOn(
-	iAnalogValue:= 5,
+	i_iAnalogValue:= 5,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -753,12 +753,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // run analog input
 _fbAnalogInput(
-	iAnalogValue:= 3071, // 0,75 * 4095 = 3071,25
+	i_iAnalogValue:= 3071, // 0,75 * 4095 = 3071,25
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xError=> , 
 	xInUnitTestMode := TRUE,
 	rScaledValue=> _rResult);
@@ -807,12 +807,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // run AI to check for overrange error
 _fbAI(
-	iAnalogValue:= 50,
+	i_iAnalogValue:= 50,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= TRUE, 
-	xErrorCard:= , 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= TRUE, 
+	i_xErrorCard:= , 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -866,12 +866,12 @@ IF NOT _xOverrangeOffInitDone THEN
 	_xOverrangeOffInitDone := TRUE;
 	// run AI to check for overrange error
 	_fbAIOverrangeOff(
-		iAnalogValue:= 50,
+		i_iAnalogValue:= 50,
 		stAnalogIOConfig := _stAnalogInputConfig,
 		stAnalogEWConfig := _stAnalogEWConfig,
-		xUnderrange:= FALSE, 
-		xOverrange:= TRUE, 
-		xErrorCard:= , 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= TRUE, 
+		i_xErrorCard:= , 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -884,12 +884,12 @@ END_IF
 
 // run AI cyclically until overrange error is supposed to be off
 _fbAIOverrangeOff(
-	iAnalogValue:= 50,
+	i_iAnalogValue:= 50,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= , 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= , 
 	xReleaseErrors := TRUE,
 	xReleaseHardwareErrors := TRUE,
 	xReleaseLimitErrors:= TRUE, 
@@ -945,12 +945,12 @@ _fbOverrangeOnTimer(IN := TRUE, PT := T#100MS);
 
 // run AI to check for overrange error
 _fbAIOverrangeOn(
-	iAnalogValue:= 50,
+	i_iAnalogValue:= 50,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= TRUE, 
-	xErrorCard:= , 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= TRUE, 
+	i_xErrorCard:= , 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1003,12 +1003,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // run AI to check for underrange error
 _fbAI(
-	iAnalogValue:= 50,
+	i_iAnalogValue:= 50,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= TRUE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= , 
+	i_xUnderrange:= TRUE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= , 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1062,12 +1062,12 @@ IF NOT _xUnderrangeOffInitDone THEN
 	_xUnderrangeOffInitDone := TRUE;
 	// run AI to check for underrange error
 	_fbAIUnderrangeOff(
-		iAnalogValue:= 50,
+		i_iAnalogValue:= 50,
 		stAnalogIOConfig := _stAnalogInputConfig,
 		stAnalogEWConfig := _stAnalogEWConfig,
-		xUnderrange:= TRUE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= , 
+		i_xUnderrange:= TRUE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= , 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -1080,12 +1080,12 @@ END_IF
 
 // run AI cyclically until underrange error is supposed to be off
 _fbAIUnderrangeOff(
-	iAnalogValue:= 0,
+	i_iAnalogValue:= 0,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= , 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= , 
 	xReleaseErrors := TRUE,
 	xReleaseHardwareErrors := TRUE,
 	xReleaseLimitErrors:= TRUE,
@@ -1141,12 +1141,12 @@ _fbUnderrangeOnTimer(IN := TRUE, PT := T#100MS);
 
 // run AI to check for underrange error
 _fbAIUnderrangeOn(
-	iAnalogValue:= 50,
+	i_iAnalogValue:= 50,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= TRUE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= , 
+	i_xUnderrange:= TRUE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= , 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1200,12 +1200,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 	
 // Check with active release signal
 _fbAI(
-	iAnalogValue:= 85,
+	i_iAnalogValue:= 85,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1224,10 +1224,10 @@ AssertFalse(Condition:= _xResultErrorHigh, Message:= 'Error high is active');
 
 // Check without active release signal
 _fbAI(
-	iAnalogValue:= 85, 
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_iAnalogValue:= 85, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= FALSE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1283,12 +1283,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 IF NOT _xWarningHighOffInitDone THEN
 	_xWarningHighOffInitDone := TRUE;
 	_fbAIWarningHighOff(
-		iAnalogValue:= 85,
+		i_iAnalogValue:= 85,
 		stAnalogIOConfig := _stAnalogInputConfig,
 		stAnalogEWConfig := _stAnalogEWConfig,
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -1300,10 +1300,10 @@ IF NOT _xWarningHighOffInitDone THEN
 ELSE
 	_fbWarningHighOffTimer(IN := TRUE, PT := timOffTime);
 	_fbAIWarningHighOff(
-		iAnalogValue:= 50, 
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_iAnalogValue:= 50, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -1369,12 +1369,12 @@ _fbWarningHighOnTimer(IN := TRUE, PT := timOnTime);
 
 // Check with active release signal
 _fbAIWarningHighOn(
-	iAnalogValue:= 85,
+	i_iAnalogValue:= 85,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1433,12 +1433,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 
 // Warning low with release
 _fbAI(
-	iAnalogValue:= 15,
+	i_iAnalogValue:= 15,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1457,10 +1457,10 @@ AssertFalse(Condition:= _xResultErrorHigh, Message:= 'Error high is active');
 
 // Warning low without release
 _fbAI(
-	iAnalogValue:= 15, 
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_iAnalogValue:= 15, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= FALSE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
@@ -1517,12 +1517,12 @@ _stAnalogEWConfig.stDelays := _stDelayConfig;
 IF NOT _xWarningLowOffInitDone THEN
 	_xWarningLowOffInitDone := TRUE;
 	_fbAIWarningLowOff(
-		iAnalogValue:= 15,
+		i_iAnalogValue:= 15,
 		stAnalogIOConfig := _stAnalogInputConfig,
 		stAnalogEWConfig := _stAnalogEWConfig,
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -1534,10 +1534,10 @@ IF NOT _xWarningLowOffInitDone THEN
 ELSE
 	_fbWarningLowOffTimer(IN := TRUE, PT := timOffTime);
 	_fbAIWarningLowOff(
-		iAnalogValue:= 50, 
-		xUnderrange:= FALSE, 
-		xOverrange:= FALSE, 
-		xErrorCard:= FALSE, 
+		i_iAnalogValue:= 50, 
+		i_xUnderrange:= FALSE, 
+		i_xOverrange:= FALSE, 
+		i_xErrorCard:= FALSE, 
 		xReleaseLimitErrors:= TRUE, 
 		xError=> _xResultError, 
 		rScaledValue=> ,
@@ -1603,12 +1603,12 @@ _fbWarningLowOnTimer(IN := TRUE, PT := timOnTime);
 
 // Check with active release signal
 _fbAIWarningLowOn(
-	iAnalogValue:= 15,
+	i_iAnalogValue:= 15,
 	stAnalogIOConfig := _stAnalogInputConfig,
 	stAnalogEWConfig := _stAnalogEWConfig,
-	xUnderrange:= FALSE, 
-	xOverrange:= FALSE, 
-	xErrorCard:= FALSE, 
+	i_xUnderrange:= FALSE, 
+	i_xOverrange:= FALSE, 
+	i_xErrorCard:= FALSE, 
 	xReleaseLimitErrors:= TRUE, 
 	xError=> _xResultError, 
 	rScaledValue=> ,
diff --git a/BasicComponents/POUs/Unittests/AOTests/FB_AnalogOutputTest.TcPOU b/BasicComponents/Unittests/AOTests/FB_AnalogOutputTest.TcPOU
similarity index 96%
rename from BasicComponents/POUs/Unittests/AOTests/FB_AnalogOutputTest.TcPOU
rename to BasicComponents/Unittests/AOTests/FB_AnalogOutputTest.TcPOU
index 3098565..a98217a 100644
--- a/BasicComponents/POUs/Unittests/AOTests/FB_AnalogOutputTest.TcPOU
+++ b/BasicComponents/Unittests/AOTests/FB_AnalogOutputTest.TcPOU
@@ -63,7 +63,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 	
@@ -112,7 +112,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 	
@@ -170,7 +170,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 
@@ -198,7 +198,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError);
 
 // reading error from HMI interface
@@ -251,7 +251,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 	
@@ -266,7 +266,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError);
 
 // and evaluate result	
@@ -280,7 +280,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError);
 
 // and evaluate result	
@@ -294,7 +294,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError);
 
 // and evaluate result	
@@ -308,7 +308,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError);
 	
 // and evaluate result
@@ -359,7 +359,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 
@@ -410,7 +410,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 	
@@ -454,7 +454,7 @@ _fbAnalogOutput(
 	xReleaseErrors := ,
 	xConfirmAlarms := ,
 	stHMIInterface := _stHMIInterface,
-	iAnalogValue => _iAnalogOutput,
+	o_iAnalogValue => _iAnalogOutput,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 
diff --git a/BasicComponents/POUs/Unittests/AnalogValveTests/FB_ValveAnalog_Test.TcPOU b/BasicComponents/Unittests/AnalogValveTests/FB_ValveAnalog_Test.TcPOU
similarity index 93%
rename from BasicComponents/POUs/Unittests/AnalogValveTests/FB_ValveAnalog_Test.TcPOU
rename to BasicComponents/Unittests/AnalogValveTests/FB_ValveAnalog_Test.TcPOU
index 44cd6fe..00f6ad6 100644
--- a/BasicComponents/POUs/Unittests/AnalogValveTests/FB_ValveAnalog_Test.TcPOU
+++ b/BasicComponents/Unittests/AnalogValveTests/FB_ValveAnalog_Test.TcPOU
@@ -63,7 +63,7 @@ _fbValve.ReqAutomaticMode();
 _fbValve.rSPAutomatic := 100;
 
 // needs one cycle to write values (scaled feedback ~75, tolerance 95 to 105) 
-_fbValve(xAutomaticOpen := TRUE, stValveConfig := _stValveConfig, stHMIInterface := _stHMIValve, iFeedbackValue := 3000, xError => _xError, xInUnitTestMode := TRUE);
+_fbValve(xAutomaticOpen := TRUE, stValveConfig := _stValveConfig, stHMIInterface := _stHMIValve, i_iFeedbackValue := 3000, xError => _xError, xInUnitTestMode := TRUE);
 
 // assert result
 AssertTrue(_xError, 'Expected NotInRangeError, got no error.');
@@ -102,7 +102,7 @@ _xOpenFeedback := FALSE;
 _xCloseFeedback := FALSE;
 _fbValve.xReleaseManualMode := TRUE;
 _fbValve.ReqManualMode();
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 
 
 // We should now be in manual mode
@@ -112,7 +112,7 @@ AssertTrue(Condition := _fbValve.IsInManualMode, Message := 'Valve did not chang
 // Test closed
 _xOpenFeedback := FALSE;
 _xCloseFeedback := TRUE;
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 AssertTrue(Condition := _fbValve.IsClosed, Message := 'Valve should be closed');
 AssertFalse(Condition := _fbValve.IsOpen, Message := 'Valve should not be open');
 
@@ -120,14 +120,14 @@ AssertFalse(Condition := _fbValve.IsOpen, Message := 'Valve should not be open')
 _xOpenFeedback := TRUE;
 _xCloseFeedback := FALSE;
 _stHMIValve.stSetpoint.rValue := 100.0;
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 AssertTrue(Condition := _fbValve.IsOpen, Message := 'Valve should be open');
 AssertFalse(Condition := _fbValve.IsClosed, Message := 'Valve should not be closed');
 
 // Test open and close
 _xOpenFeedback := TRUE;
 _xCloseFeedback := TRUE;
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 AssertFalse(Condition := _fbValve.IsClosed OR _fbValve.IsOpen, Message := 'Valve should not signal open or closed with both feedback signals high');
 
 TEST_FINISHED();]]></ST>
@@ -161,7 +161,7 @@ _stValveConfig.xHasAnalogFeedback := TRUE;
 _fbValve(
 	stValveConfig := _stValveConfig,
 	stHMIInterface := _stHMIValve,
-	xFeedbackOverrange := TRUE,
+	i_xFeedbackOverrange := TRUE,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 
@@ -199,7 +199,7 @@ _stValveConfig.xHasAnalogFeedback := TRUE;
 _fbValve(
 	stValveConfig := _stValveConfig,
 	stHMIInterface := _stHMIValve,
-	xFeedbackUnderrange := TRUE,
+	i_xFeedbackUnderrange := TRUE,
 	xError => _xError,
 	xInUnitTestMode := TRUE);
 
@@ -487,7 +487,7 @@ IF _fbValve.IsOpen THEN
 	// Valve should now be closed
 	AssertFalse(Condition := _fbValve.IsOpen, Message := 'Valve should not be open with active Interlock');
 	AssertTrue(Condition := _fbValve.IsClosed, Message := 'Close output not active with active Interlock');
-	AssertEquals_INT(Expected := 0, Actual := _fbValve.iSetpoint, Message := 'Analog output should be zero');
+	AssertEquals_INT(Expected := 0, Actual := _fbValve.o_iSetpoint, Message := 'Analog output should be zero');
 ELSE
 	AssertTrue(Condition := _fbValve.IsOpen, Message := 'Valve did not open before the test');
 END_IF
@@ -535,7 +535,7 @@ IF _fbValve.IsOpen THEN
 	// Valve should now be closed
 	AssertFalse(Condition := _fbValve.IsOpen, Message := 'Valve should not be open with active Interlock');
 	AssertTrue(Condition := _fbValve.IsClosed, Message := 'Close output not active with active Interlock');
-	AssertEquals_INT(Expected := 0, Actual := _fbValve.iSetpoint, Message := 'Analog output should be zero');
+	AssertEquals_INT(Expected := 0, Actual := _fbValve.o_iSetpoint, Message := 'Analog output should be zero');
 ELSE
 	AssertTrue(Condition := _fbValve.IsOpen, Message := 'Valve did not open before the test');
 END_IF
diff --git a/BasicComponents/POUs/Unittests/ReleaseSignalTests/FB_ReleaseSignalTest.TcPOU b/BasicComponents/Unittests/ReleaseSignalTests/FB_ReleaseSignalTest.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Unittests/ReleaseSignalTests/FB_ReleaseSignalTest.TcPOU
rename to BasicComponents/Unittests/ReleaseSignalTests/FB_ReleaseSignalTest.TcPOU
diff --git a/BasicComponents/POUs/Unittests/UtilitiesTests/FB_BlinkerTest.TcPOU b/BasicComponents/Unittests/UtilitiesTests/FB_BlinkerTest.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Unittests/UtilitiesTests/FB_BlinkerTest.TcPOU
rename to BasicComponents/Unittests/UtilitiesTests/FB_BlinkerTest.TcPOU
diff --git a/BasicComponents/POUs/Unittests/UtilitiesTests/FB_HashFNV1a_32BitTest.TcPOU b/BasicComponents/Unittests/UtilitiesTests/FB_HashFNV1a_32BitTest.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Unittests/UtilitiesTests/FB_HashFNV1a_32BitTest.TcPOU
rename to BasicComponents/Unittests/UtilitiesTests/FB_HashFNV1a_32BitTest.TcPOU
diff --git a/BasicComponents/POUs/Unittests/UtilitiesTests/FB_PT1Test.TcPOU b/BasicComponents/Unittests/UtilitiesTests/FB_PT1Test.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Unittests/UtilitiesTests/FB_PT1Test.TcPOU
rename to BasicComponents/Unittests/UtilitiesTests/FB_PT1Test.TcPOU
diff --git a/BasicComponents/POUs/Unittests/UtilitiesTests/FB_RampGeneratorTest.TcPOU b/BasicComponents/Unittests/UtilitiesTests/FB_RampGeneratorTest.TcPOU
similarity index 100%
rename from BasicComponents/POUs/Unittests/UtilitiesTests/FB_RampGeneratorTest.TcPOU
rename to BasicComponents/Unittests/UtilitiesTests/FB_RampGeneratorTest.TcPOU
diff --git a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestHMI.TcPOU b/BasicComponents/Unittests/ValveTests/FB_ValveTestHMI.TcPOU
similarity index 88%
rename from BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestHMI.TcPOU
rename to BasicComponents/Unittests/ValveTests/FB_ValveTestHMI.TcPOU
index 356cc0a..4d0d771 100644
--- a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestHMI.TcPOU
+++ b/BasicComponents/Unittests/ValveTests/FB_ValveTestHMI.TcPOU
@@ -46,13 +46,13 @@ _fbValve(
 	wProcessINTLKUsed:= _wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= _stValveConfig, 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 	
 // Valve should now be in manual mode and xRequest should have been reset
 AssertTrue(Condition := _fbValve.IsInManualMode, Message := 'Valve did not change to manual mode');
@@ -90,13 +90,13 @@ _fbValve(
 	wProcessINTLKUsed:= _wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= _stValveConfig, 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 	
 AssertFalse(Condition := _stHMIValve.stManualButton.xRelease, Message := 'Manual mode button was released but should not have been');
 
@@ -108,13 +108,13 @@ _fbValve(
 	wProcessINTLKUsed:= _wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= , 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 	
 AssertTrue(Condition := _stHMIValve.stManualButton.xRelease, Message := 'Manual mode button was not released but should have been');
 
@@ -151,13 +151,13 @@ _fbValveOC(
 	wProcessINTLKUsed:= _wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= _stValveConfig, 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 	
 // Valve should now be in manual mode
 AssertTrue(Condition := _fbValveOC.IsInManualMode, Message := 'Valve did not change to manual mode pre test');
@@ -170,16 +170,16 @@ _fbValveOC(
 	wProcessINTLKUsed:= _wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= , 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 
 // test for valve state and HMI feedback
-AssertTrue(Condition := _fbValveOC.xOpenValve, Message := 'Valve did not open as requested by hmi button');
+AssertTrue(Condition := _fbValveOC.o_xOpenValve, Message := 'Valve did not open as requested by hmi button');
 AssertFalse(Condition := _stHMIValve.stOpenButton.xRequest, Message := 'Valve did not reset open request');
 _eExpectedOpenButtonFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
 _eExpectedCloseButtonFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
@@ -194,16 +194,16 @@ _fbValveOC(
 	wProcessINTLKUsed:= _wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= , 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 
 // test for valve state and HMI feedback	
-AssertTrue(Condition := _fbValveOC.xCloseValve, Message := 'Valve did not close as requested by hmi button');
+AssertTrue(Condition := _fbValveOC.o_xCloseValve, Message := 'Valve did not close as requested by hmi button');
 AssertFalse(Condition := _stHMIValve.stCloseButton.xRequest, Message := 'Valve did not reset close request');
 _eExpectedOpenButtonFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
 _eExpectedCloseButtonFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
@@ -243,13 +243,13 @@ _fbValve(
 	wProcessINTLKUsed:= wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= _stValveConfig, 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 	
 // Valve should now be in manual mode
 AssertTrue(Condition := _fbValve.IsInManualMode, Message := 'Valve did not change to manual mode pre test');
@@ -265,15 +265,15 @@ _fbValve(
 	wProcessINTLKUsed:= wInterlocksUsed, 
 	stHMIInterface:= _stHMIValve, 
 	xError=> , 
-	xOpenFeedback:= , 
-	xCloseFeedback:= , 
+	i_xOpenFeedback:= , 
+	i_xCloseFeedback:= , 
 	xReleaseErrors:= , 
 	xConfirmAlarms:= , 
 	stValveConfig:= , 
-	xOpenValve=> , 
-	xCloseValve=> );
+	o_xOpenValve=> , 
+	o_xCloseValve=> );
 	
-AssertFalse(Condition := _fbValve.xOpenValve, Message := 'Valve did not block manual open command with active interlock');
+AssertFalse(Condition := _fbValve.o_xOpenValve, Message := 'Valve did not block manual open command with active interlock');
 	
 TEST_FINISHED();]]></ST>
       </Implementation>
diff --git a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTimoutClose.TcPOU b/BasicComponents/Unittests/ValveTests/FB_ValveTestTimoutClose.TcPOU
similarity index 89%
rename from BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTimoutClose.TcPOU
rename to BasicComponents/Unittests/ValveTests/FB_ValveTestTimoutClose.TcPOU
index b0e27bf..b0bd758 100644
--- a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTimoutClose.TcPOU
+++ b/BasicComponents/Unittests/ValveTests/FB_ValveTestTimoutClose.TcPOU
@@ -48,8 +48,8 @@ CASE _iState OF
 	10:
 		// set close feedback after 50ms and call valve block
 		_xOpenFeedback := FALSE;
-		_xCloseFeedback := _fbValveTimeout.xCloseValve AND _fbDelayFeedbackSignalTimer.Q;
-		_fbValveTimeout(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
+		_xCloseFeedback := _fbValveTimeout.o_xCloseValve AND _fbDelayFeedbackSignalTimer.Q;
+		_fbValveTimeout(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
 		
 		// test timeout after 200ms
 		IF _fbTimeoutCloseTestTimer.Q THEN
diff --git a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTimoutOpen.TcPOU b/BasicComponents/Unittests/ValveTests/FB_ValveTestTimoutOpen.TcPOU
similarity index 89%
rename from BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTimoutOpen.TcPOU
rename to BasicComponents/Unittests/ValveTests/FB_ValveTestTimoutOpen.TcPOU
index 502ee48..b72fc3b 100644
--- a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTimoutOpen.TcPOU
+++ b/BasicComponents/Unittests/ValveTests/FB_ValveTestTimoutOpen.TcPOU
@@ -48,9 +48,9 @@ CASE _iState OF
 		
 	10:
 		// set open feedback after 50ms and call valve block
-		_xOpenFeedback := _fbValveTimeout.xOpenValve AND _fbDelayFeedbackSignalTimer.Q;
+		_xOpenFeedback := _fbValveTimeout.o_xOpenValve AND _fbDelayFeedbackSignalTimer.Q;
 		_xCloseFeedback := FALSE;
-		_fbValveTimeout(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
+		_fbValveTimeout(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
 		
 		// test timeout after 200ms
 		IF _fbTimeoutOpenTestTimer.Q THEN
diff --git a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTriggerTimoutClose.TcPOU b/BasicComponents/Unittests/ValveTests/FB_ValveTestTriggerTimoutClose.TcPOU
similarity index 92%
rename from BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTriggerTimoutClose.TcPOU
rename to BasicComponents/Unittests/ValveTests/FB_ValveTestTriggerTimoutClose.TcPOU
index 1ef858b..20d0afe 100644
--- a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTriggerTimoutClose.TcPOU
+++ b/BasicComponents/Unittests/ValveTests/FB_ValveTestTriggerTimoutClose.TcPOU
@@ -50,7 +50,7 @@ CASE _iState OF
 		// both feedback false and call valve block
 		_xOpenFeedback := FALSE;
 		_xCloseFeedback := FALSE;
-		_fbValveTimeout(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, xInUnitTestMode := TRUE, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
+		_fbValveTimeout(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, xInUnitTestMode := TRUE, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
 		
 		// test timeout after 200ms
 		IF _fbTimeoutCloseTestTimer.Q THEN
diff --git a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTriggerTimoutOpen.TcPOU b/BasicComponents/Unittests/ValveTests/FB_ValveTestTriggerTimoutOpen.TcPOU
similarity index 92%
rename from BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTriggerTimoutOpen.TcPOU
rename to BasicComponents/Unittests/ValveTests/FB_ValveTestTriggerTimoutOpen.TcPOU
index 2dd502d..d793682 100644
--- a/BasicComponents/POUs/Unittests/ValveTests/FB_ValveTestTriggerTimoutOpen.TcPOU
+++ b/BasicComponents/Unittests/ValveTests/FB_ValveTestTriggerTimoutOpen.TcPOU
@@ -51,7 +51,7 @@ CASE _iState OF
 		// both feedback false and call valve block
 		_xOpenFeedback := FALSE;
 		_xCloseFeedback := FALSE;
-		_fbValveTimeout(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, xInUnitTestMode := TRUE, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
+		_fbValveTimeout(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, xInUnitTestMode := TRUE, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig);
 		
 		// test timeout after 200ms
 		IF _fbTimeoutOpenTestTimer.Q THEN
diff --git a/BasicComponents/POUs/Unittests/ValveTests/FB_Valve_Test.TcPOU b/BasicComponents/Unittests/ValveTests/FB_Valve_Test.TcPOU
similarity index 88%
rename from BasicComponents/POUs/Unittests/ValveTests/FB_Valve_Test.TcPOU
rename to BasicComponents/Unittests/ValveTests/FB_Valve_Test.TcPOU
index 3979e99..17fd003 100644
--- a/BasicComponents/POUs/Unittests/ValveTests/FB_Valve_Test.TcPOU
+++ b/BasicComponents/Unittests/ValveTests/FB_Valve_Test.TcPOU
@@ -53,7 +53,7 @@ _xOpenFeedback := FALSE;
 _xCloseFeedback := FALSE;
 _fbValve.xReleaseManualMode := TRUE;
 _fbValve.ReqManualMode();
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 
 // We should now be in manual mode
 AssertTrue(Condition := _fbValve.IsInManualMode, Message := 'Valve did not changed to manual mode');
@@ -65,7 +65,7 @@ AssertFalse(Condition := _fbValve.IsClosed OR _fbValve.IsOpen, Message := 'Valve
 // Test closed
 _xOpenFeedback := FALSE;
 _xCloseFeedback := TRUE;
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback,stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback,stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 AssertTrue(Condition := _fbValve.IsClosed, Message := 'Valve should be closed');
 AssertFalse(Condition := _fbValve.IsOpen, Message := 'Valve should not be open');
 
@@ -74,14 +74,14 @@ _xOpenFeedback := TRUE;
 _xCloseFeedback := FALSE;
 _stHMIValve.stOpenButton.xRequest := TRUE;
 _fbValve(stHMIInterface := _stHMIValve);
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 AssertTrue(Condition := _fbValve.IsOpen, Message := 'Valve should be open');
 AssertFalse(Condition := _fbValve.IsClosed, Message := 'Valve should not be closed');
 
 // Test open and close
 _xOpenFeedback := TRUE;
 _xCloseFeedback := TRUE;
-_fbValve(xOpenFeedback := _xOpenFeedback, xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
+_fbValve(i_xOpenFeedback := _xOpenFeedback, i_xCloseFeedback := _xCloseFeedback, stHMIInterface := _stHMIValve, stValveConfig := _stValveConfig, xInUnitTestMode := TRUE);
 AssertFalse(Condition := _fbValve.IsClosed OR _fbValve.IsOpen, Message := 'Valve should not signal open or closed with both feedback signals high');
 
 TEST_FINISHED();]]></ST>
@@ -347,16 +347,16 @@ IF _fbValve.IsOpen THEN
 	_fbValve(wProcessINTLK := _wInterlocks, wProcessINTLKUsed := _wInterlocksUsed, stHMIInterface := _stHMIValve);
 	
 	// Valve should now be closed
-	AssertFalse(Condition := _fbValve.xOpenValve, Message := 'Valve should not be open with active Interlock');
-	AssertTrue(Condition := _fbValve.xCloseValve, Message := 'Close output not active with active Interlock');
+	AssertFalse(Condition := _fbValve.o_xOpenValve, Message := 'Valve should not be open with active Interlock');
+	AssertTrue(Condition := _fbValve.o_xCloseValve, Message := 'Close output not active with active Interlock');
 	
 	// Test the same with open valve when interlock active
 	_stValveConfig.xNormallyOpen := TRUE;
 	_fbValve(stValveConfig := _stValveConfig, wProcessINTLK := _wInterlocks, wProcessINTLKUsed := _wInterlocksUsed, stHMIInterface := _stHMIValve);
 	
 	// Valve should now be open
-	AssertTrue(Condition := _fbValve.xOpenValve, Message := 'Valve should be open with active Interlock and inverted config');
-	AssertFalse(Condition := _fbValve.xCloseValve, Message := 'Close output  active with active Interlock and inverted config');
+	AssertTrue(Condition := _fbValve.o_xOpenValve, Message := 'Valve should be open with active Interlock and inverted config');
+	AssertFalse(Condition := _fbValve.o_xCloseValve, Message := 'Close output  active with active Interlock and inverted config');
 ELSE
 	AssertTrue(Condition := _fbValve.IsOpen, Message := 'Valve did not open before the test');
 END_IF
@@ -405,16 +405,16 @@ IF _fbValve.IsOpen THEN
 	_fbValve(wProcessINTLK := _wInterlocks, wProcessINTLKUsed := _wInterlocksUsed, stHMIInterface := _stHMIValve);
 	
 	// Valve should now be closed
-	AssertFalse(Condition := _fbValve.xOpenValve, Message := 'Valve should not be open with active Interlock');
-	AssertTrue(Condition := _fbValve.xCloseValve, Message := 'Close output not active with active Interlock');
+	AssertFalse(Condition := _fbValve.o_xOpenValve, Message := 'Valve should not be open with active Interlock');
+	AssertTrue(Condition := _fbValve.o_xCloseValve, Message := 'Close output not active with active Interlock');
 	
 	// Test the same with open valve when interlock active
 	_stValveConfig.xNormallyOpen := TRUE;
 	_fbValve(stValveConfig := _stValveConfig, wProcessINTLK := _wInterlocks, wProcessINTLKUsed := _wInterlocksUsed, stHMIInterface := _stHMIValve);
 	
 	// Valve should now be open
-	AssertTrue(Condition := _fbValve.xOpenValve, Message := 'Valve should be open with active Interlock and inverted config');
-	AssertFalse(Condition := _fbValve.xCloseValve, Message := 'Close output  active with active Interlock and inverted config');
+	AssertTrue(Condition := _fbValve.o_xOpenValve, Message := 'Valve should be open with active Interlock and inverted config');
+	AssertFalse(Condition := _fbValve.o_xCloseValve, Message := 'Close output  active with active Interlock and inverted config');
 	AssertTrue(Condition := _stHMIValve.stOpenButton.eFeedback = E_HMI_BUTTON_FEEDBACK.ACTIVE, Message := 'Open button should be set active with active Interlock and inverted config');
 ELSE
 	AssertTrue(Condition := _fbValve.IsOpen, Message := 'Valve did not open before the test');

From 8f93e0f07665d701d267923644934faae224aa22 Mon Sep 17 00:00:00 2001
From: "m.heisig" <m.heisig@heisig-gmbh.de>
Date: Thu, 19 Mar 2026 19:40:53 +0100
Subject: [PATCH 3/4] Fixed AxisPTP MoveVelocity

---
 BaseComponents.tsproj                         |   2 +-
 BasicComponents.library                       | Bin 1035852 -> 1038391 bytes
 .../Components/AxisPTP/POUs/FB_AxisPTP.TcPOU  |   8 ++++----
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/BaseComponents.tsproj b/BaseComponents.tsproj
index 5d534d2..8c93cc4 100644
--- a/BaseComponents.tsproj
+++ b/BaseComponents.tsproj
@@ -136,7 +136,7 @@
 		</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="{864A6F78-5663-9977-8C53-B90BFD312EA0}" TmcPath="BasicComponents\BasicComponents.tmc">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{F7EEFF71-0952-DE86-79DA-785827446F08}" TmcPath="BasicComponents\BasicComponents.tmc">
 					<Name>BasicComponents Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Contexts>
diff --git a/BasicComponents.library b/BasicComponents.library
index 8ba660df19a4d1ef4605fdfe616d1de09561a501..8b2a14fd8f2e82cf527016e011a97027b5dd82a7 100644
GIT binary patch
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diff --git a/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU b/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
index 71852e4..0d7a8a5 100644
--- a/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
+++ b/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
@@ -537,7 +537,7 @@ END_VAR
       <Implementation>
         <ST><![CDATA[// Reject command if axis is not enabled
 IF (NOT _fbPower.Status) THEN
-	M_MoveRel := E_CmdResult.REJECTED;
+	M_MoveVelocity := E_CmdResult.REJECTED;
 	RETURN;
 END_IF
 
@@ -548,13 +548,13 @@ CASE _eState OF
 		
 		xBusy := TRUE;
 		xDone := FALSE;
-		M_MoveRel := E_CmdResult.ACCEPTED;
+		M_MoveVelocity := E_CmdResult.ACCEPTED;
 	
 	E_AXIS_PTP_STATE.ERROR:
-		M_MoveRel := E_CmdResult.ERROR;
+		M_MoveVelocity := E_CmdResult.ERROR;
 		
 	ELSE
-		M_MoveRel := E_CmdResult.BUSY;
+		M_MoveVelocity := E_CmdResult.BUSY;
 END_CASE]]></ST>
       </Implementation>
     </Method>

From 33e2b96d4890f146e75083db6c74a17659ffeab0 Mon Sep 17 00:00:00 2001
From: "m.heisig" <m.heisig@heisig-gmbh.de>
Date: Fri, 20 Mar 2026 11:47:56 +0100
Subject: [PATCH 4/4] Fixed AxisPTP homing position error

---
 BasicComponents.library                       | Bin 1038391 -> 1038491 bytes
 .../Components/AxisPTP/POUs/FB_AxisPTP.TcPOU  |   4 +++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/BasicComponents.library b/BasicComponents.library
index 8b2a14fd8f2e82cf527016e011a97027b5dd82a7..3f4a5d31aba9aa82ab9c59c50de5b68167deea8c 100644
GIT binary patch
delta 28525
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diff --git a/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU b/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
index 0d7a8a5..e129bd4 100644
--- a/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
+++ b/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
@@ -62,7 +62,7 @@ VAR
 	
 	_lrTargetPosition : LREAL;
 	_lrRelativeDistance : LREAL;
-	_lrHomingPos : LREAL;
+	_lrHomingPos : LREAL := Tc2_MC2.DEFAULT_HOME_POSITION;
 	_eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming;
 	_xCalibrationCam : BOOL;
 	
@@ -424,6 +424,8 @@ END_IF
 
 CASE _eState OF
 	E_AXIS_PTP_STATE.IDLE:
+		_lrHomingPos := lrHomingPosition;
+		_eHomingMode := eHomingMode;
 		_eState := E_AXIS_PTP_STATE.START_HOMING;
 		
 		xBusy := TRUE;