Lots of work !!

42 files changed, 1075 insertions, 1121 deletions

diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorLab/ViewModels/MainViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorLab/ViewModels/MainViewVM.cs
index 88007b5f4..21021c6b8 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorLab/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.ColorLab/ViewModels/MainViewVM.cs
@@ -347,7 +347,7 @@ namespace Tango.MachineStudio.ColorLab.ViewModels
         {
             if (SelectedMachine != null)
             {
-                LiquidVolumes = SelectedMachine.Configuration.IdsPacks.OrderBy(x => x.PackIndex).Select(x => new LiquidVolumeVM()
+                LiquidVolumes = SelectedMachine.Configuration.NoneEmptyIdsPacks.OrderBy(x => x.PackIndex).Select(x => new LiquidVolumeVM()
                 {
                     Color = x.LiquidType.Color,
                     Name = x.LiquidType.Name,
@@ -364,12 +364,12 @@ namespace Tango.MachineStudio.ColorLab.ViewModels
         {
             if (SelectedRML != null && SelectedMachine != null)
             {
-                LiquidTypesRmls = SelectedMachine.Configuration.IdsPacks.OrderBy(x => x.PackIndex).Select(x => x.LiquidType).SelectMany(x => x.LiquidTypesRmls).Where(x => x.Rml.Guid == SelectedRML.Guid).ToList();
+                LiquidTypesRmls = SelectedMachine.Configuration.NoneEmptyIdsPacks.OrderBy(x => x.PackIndex).Select(x => x.LiquidType).SelectMany(x => x.LiquidTypesRmls).Where(x => x.Rml.Guid == SelectedRML.Guid).ToList();
                 //RmlProcessParametersTableGroup = SelectedRML.ProcessParametersTablesGroups.ToList().SingleOrDefault(x => x.Active);
 
                 LiquidsCalibrationData = new ObservableCollection<CalibrationDataVM>();
 
-                foreach (var idsPack in SelectedMachine.Configuration.IdsPacks.OrderBy(x => x.PackIndex))
+                foreach (var idsPack in SelectedMachine.Configuration.NoneEmptyIdsPacks.OrderBy(x => x.PackIndex))
                 {
                     CalibrationDataVM vm = new CalibrationDataVM();
                     vm.Name = idsPack.LiquidType.Name;
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs
index b2f476eab..f557e2923 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Developer/ViewModels/MainViewVM.cs
@@ -1223,7 +1223,7 @@ namespace Tango.MachineStudio.Developer.ViewModels
             if (SelectedRML != null && SelectedMachine != null)
             {
                 LogManager.Log("Invalidating liquid factors, process parameters and process group history...");
-                LiquidTypesRmls = SelectedMachine.Configuration.IdsPacks.OrderBy(x => x.PackIndex).Select(x => x.LiquidType).SelectMany(x => x.LiquidTypesRmls).Where(x => x.Rml.Guid == SelectedRML.Guid).ToList();
+                LiquidTypesRmls = SelectedMachine.Configuration.NoneEmptyIdsPacks.Where(x => !x.IsEmpty).OrderBy(x => x.PackIndex).Select(x => x.LiquidType).SelectMany(x => x.LiquidTypesRmls).Where(x => x.Rml.Guid == SelectedRML.Guid).ToList();
                 RmlProcessParametersTableGroup = SelectedRML.ProcessParametersTablesGroups.ToList().SingleOrDefault(x => x.Active);
 
                 var selectedHistory = RmlProcessParametersTableGroup;
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Logging/ViewModels/EventsViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Logging/ViewModels/EventsViewVM.cs
index f92c51aa4..c4f391c55 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Logging/ViewModels/EventsViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Logging/ViewModels/EventsViewVM.cs
@@ -151,8 +151,11 @@ namespace Tango.MachineStudio.Logging.ViewModels
                     Dates.Add(day);
                 }
 
-                MinDate = Dates.Min();
-                MaxDate = Dates.Max();
+                if (Dates.Count > 0)
+                {
+                    MinDate = Dates.Min();
+                    MaxDate = Dates.Max();
+                }
 
                 SelectedDate = Dates.FirstOrDefault();
             }
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.MachineDesigner/ViewModels/MainViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.MachineDesigner/ViewModels/MainViewVM.cs
index 421f2daa7..a1da10db9 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.MachineDesigner/ViewModels/MainViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.MachineDesigner/ViewModels/MainViewVM.cs
@@ -479,26 +479,38 @@ namespace Tango.MachineStudio.MachineDesigner.ViewModels
 
             foreach (var pack in Configuration.IdsPacks)
             {
-                if (pack.Name.IsNullOrWhiteSpace())
+                if (pack.LiquidType != null || pack.CartridgeType != null || pack.DispenserType != null || pack.IdsPackFormula != null || pack.MidTankType != null)
                 {
-                    errors.Add(String.Format("Name is required on IDS pack number '{0}'.", Configuration.IdsPacks.IndexOf(pack) + 1));
-                    continue;
-                }
-                if (pack.CartridgeType == null)
-                {
-                    errors.Add(String.Format("Cartridge type is required on IDS pack '{0}'.", pack.Name));
-                }
-                if (pack.DispenserType == null)
-                {
-                    errors.Add(String.Format("Dispenser type is required on IDS pack '{0}'.", pack.Name));
-                }
-                if (pack.LiquidType == null)
-                {
-                    errors.Add(String.Format("Liquid type is required on IDS pack '{0}'.", pack.Name));
+                    if (pack.Name.IsNullOrWhiteSpace())
+                    {
+                        errors.Add(String.Format("Name is required on IDS pack number '{0}'.", Configuration.IdsPacks.IndexOf(pack) + 1));
+                        continue;
+                    }
+                    if (pack.CartridgeType == null)
+                    {
+                        errors.Add(String.Format("Cartridge type is required on IDS pack '{0}'.", pack.Name));
+                    }
+                    if (pack.DispenserType == null)
+                    {
+                        errors.Add(String.Format("Dispenser type is required on IDS pack '{0}'.", pack.Name));
+                    }
+                    if (pack.LiquidType == null)
+                    {
+                        errors.Add(String.Format("Liquid type is required on IDS pack '{0}'.", pack.Name));
+                    }
+                    if (pack.MidTankType == null)
+                    {
+                        errors.Add(String.Format("Mid Tank type is required on IDS pack '{0}'.", pack.Name));
+                    }
+                    if (pack.IdsPackFormula == null)
+                    {
+                        errors.Add(String.Format("Formula type is required on IDS pack '{0}'.", pack.Name));
+                    }
                 }
-                if (pack.MidTankType == null)
+                else
                 {
-                    errors.Add(String.Format("Mid Tank type is required on IDS pack '{0}'.", pack.Name));
+                    pack.IsEmpty = true;
+                    pack.Name = String.Empty;
                 }
             }
 
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
index fb0466177..7c575d7af 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Editors/MotorElementEditor.xaml
@@ -162,7 +162,7 @@
                 </Border>
             </Grid>
 
-            <Grid Grid.Column="1" Grid.Row="1" Visibility="{Binding TechMotor.SupportsHoming,Converter={StaticResource BoolToVisibilityConverter}}">
+            <Grid Grid.Column="1" Grid.Row="1" Visibility="{Binding HardwareMotorType.SupportsHoming,Converter={StaticResource BoolToVisibilityConverter}}">
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition Width="20*"/>
                     <ColumnDefinition Width="115*"/>
@@ -232,7 +232,7 @@
         <!--Content-->
         <Grid>
             <Border Margin="0 0 0 -23" VerticalAlignment="Bottom">
-                <TextBlock Text="{Binding TechMotor.Description}" FontSize="14" Foreground="DimGray" HorizontalAlignment="Center"></TextBlock>
+                <TextBlock Text="{Binding HardwareMotorType.Description}" FontSize="14" Foreground="DimGray" HorizontalAlignment="Center"></TextBlock>
             </Border>
         </Grid>
         <!--Content-->
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
index a732e2924..df9ebbd4e 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/DispenserTemplate.xaml
@@ -5,7 +5,10 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
              xmlns:converters="clr-namespace:Tango.MachineStudio.Technician.Converters"
              xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
-              xmlns:mahapps="http://metro.mahapps.com/winfx/xaml/controls"
+             xmlns:mahapps="http://metro.mahapps.com/winfx/xaml/controls"
+             xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
+             xmlns:editors="clr-namespace:Tango.SharedUI.Editors;assembly=Tango.SharedUI"
+             xmlns:mahApps="http://metro.mahapps.com/winfx/xaml/controls"
              xmlns:colorPicker="clr-namespace:Tango;assembly=Tango.ColorPicker"
              xmlns:local="clr-namespace:Tango.MachineStudio.Technician.PropertiesTemplates"
              mc:Ignorable="d" 
@@ -13,6 +16,7 @@
 
     <UserControl.Resources>
         <converters:MonitorsToSingleChannleMonitorsConverter x:Key="MonitorsToSingleChannleMonitorsConverter" />
+        <sharedConverters:DoubleToIntConverter x:Key="DoubleToIntConverter" />
 
         <Style TargetType="{x:Type TabItem}" BasedOn="{StaticResource {x:Type TabItem}}">
             <Setter Property="mahapps:ControlsHelper.HeaderFontSize" Value="14" />
@@ -24,14 +28,54 @@
         <StackPanel>
             <GroupBox Header="DISPENSER">
                 <StackPanel>
-                    <TextBlock FontSize="10">Selected Motor</TextBlock>
+                    <TextBlock FontSize="10">Selected Dispenser</TextBlock>
                     <ComboBox Margin="0 5 0 0" ItemsSource="{Binding Adapter.TechDispensers}" SelectedItem="{Binding TechDispenser,Mode=TwoWay}" DisplayMemberPath="Description" />
-
-                    <TextBlock FontSize="10" Margin="0 20 0 0"><Run>Speed</Run> <Run Text="{Binding Speed,StringFormat={}{0:N0} ms,FallbackValue=0}"></Run></TextBlock>
-                    <Slider Margin="0 5 0 0" Minimum="1" Maximum="1000" Value="{Binding Speed,Mode=TwoWay}"></Slider>
                 </StackPanel>
             </GroupBox>
 
+            <GroupBox Header="PARAMETERS" Margin="0 10 0 0">
+                <editors:ParameterizedEditor ParameterizedObject="{Binding DispenserType}" Padding="10">
+                    <editors:ParameterizedEditor.ItemsPanel>
+                        <ItemsPanelTemplate>
+                            <StackPanel></StackPanel>
+                        </ItemsPanelTemplate>
+                    </editors:ParameterizedEditor.ItemsPanel>
+                    <editors:ParameterizedEditor.DoubleTemplate>
+                        <DataTemplate>
+                            <DockPanel>
+                                <mahApps:NumericUpDown  DockPanel.Dock="Right" Background="Transparent" BorderThickness="0 0 0 0" Value="{Binding Value,UpdateSourceTrigger=PropertyChanged}" HasDecimals="True" HorizontalContentAlignment="Center" Width="100" />
+                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                            </DockPanel>
+                        </DataTemplate>
+                    </editors:ParameterizedEditor.DoubleTemplate>
+                    <editors:ParameterizedEditor.Int32Template>
+                        <DataTemplate>
+                            <DockPanel>
+                                <DockPanel.Style>
+                                    <Style TargetType="DockPanel">
+                                        <Style.Triggers>
+                                            <DataTrigger Binding="{Binding Name}" Value="Code">
+                                                <Setter Property="Visibility" Value="Collapsed"></Setter>
+                                            </DataTrigger>
+                                        </Style.Triggers>
+                                    </Style>
+                                </DockPanel.Style>
+                                <mahApps:NumericUpDown  DockPanel.Dock="Right" Background="Transparent" BorderThickness="0 0 0 0" Value="{Binding Value,Converter={StaticResource DoubleToIntConverter},UpdateSourceTrigger=PropertyChanged}" HasDecimals="False" HorizontalContentAlignment="Center" Width="100" />
+                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                            </DockPanel>
+                        </DataTemplate>
+                    </editors:ParameterizedEditor.Int32Template>
+                    <editors:ParameterizedEditor.BooleanTemplate>
+                        <DataTemplate>
+                            <DockPanel Margin="0 5 0 0">
+                                <ToggleButton DockPanel.Dock="Right"  Width="100" IsChecked="{Binding Value}" HorizontalAlignment="Right" />
+                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                            </DockPanel>
+                        </DataTemplate>
+                    </editors:ParameterizedEditor.BooleanTemplate>
+                </editors:ParameterizedEditor>
+            </GroupBox>
+
             <GroupBox Header="COLOR" Margin="0 10 0 0">
                 <StackPanel>
                     <Viewbox Margin="0 5 0 0">
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml
index 0d92230ad..9c166bab0 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/PropertiesTemplates/MotorTemplate.xaml
@@ -4,8 +4,10 @@
              xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
              xmlns:converters="clr-namespace:Tango.MachineStudio.Technician.Converters"
+             xmlns:sharedConverters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
              xmlns:items="clr-namespace:Tango.MachineStudio.Technician.TechItems"
-              xmlns:mahapps="http://metro.mahapps.com/winfx/xaml/controls"
+             xmlns:editors="clr-namespace:Tango.SharedUI.Editors;assembly=Tango.SharedUI"
+             xmlns:mahApps="http://metro.mahapps.com/winfx/xaml/controls"
              xmlns:colorPicker="clr-namespace:Tango;assembly=Tango.ColorPicker"
              xmlns:local="clr-namespace:Tango.MachineStudio.Technician.PropertiesTemplates"
              mc:Ignorable="d" 
@@ -13,9 +15,10 @@
 
     <UserControl.Resources>
         <converters:MonitorsToSingleChannleMonitorsConverter x:Key="MonitorsToSingleChannleMonitorsConverter" />
+        <sharedConverters:DoubleToIntConverter x:Key="DoubleToIntConverter" />
 
         <Style TargetType="{x:Type TabItem}" BasedOn="{StaticResource {x:Type TabItem}}">
-            <Setter Property="mahapps:ControlsHelper.HeaderFontSize" Value="14" />
+            <Setter Property="mahApps:ControlsHelper.HeaderFontSize" Value="14" />
             <Setter Property="Margin" Value="2" />
         </Style>
     </UserControl.Resources>
@@ -25,13 +28,44 @@
             <GroupBox Header="MOTOR">
                 <StackPanel>
                     <TextBlock FontSize="10">Selected Motor</TextBlock>
-                    <ComboBox Margin="0 5 0 0" ItemsSource="{Binding Adapter.TechMotors}" SelectedItem="{Binding TechMotor,Mode=TwoWay}" DisplayMemberPath="Description" />
-
-                    <TextBlock FontSize="10" Margin="0 20 0 0"><Run>Speed</Run> <Run Text="{Binding Speed,StringFormat={}{0:N0} ms,FallbackValue=0}"></Run></TextBlock>
-                    <Slider Margin="0 5 0 0" Minimum="1" Maximum="1000" Value="{Binding Speed,Mode=TwoWay}"></Slider>
+                    <ComboBox Margin="0 5 0 0" ItemsSource="{Binding Adapter.HardwareMotorTypes}" SelectedItem="{Binding HardwareMotorType,Mode=TwoWay}" DisplayMemberPath="Description" />
                 </StackPanel>
             </GroupBox>
 
+            <GroupBox Header="PARAMETERS" Margin="0 10 0 0">
+                <editors:ParameterizedEditor ParameterizedObject="{Binding HardwareMotor}" Padding="10">
+                    <editors:ParameterizedEditor.ItemsPanel>
+                        <ItemsPanelTemplate>
+                            <StackPanel></StackPanel>
+                        </ItemsPanelTemplate>
+                    </editors:ParameterizedEditor.ItemsPanel>
+                    <editors:ParameterizedEditor.DoubleTemplate>
+                        <DataTemplate>
+                            <DockPanel>
+                                <mahApps:NumericUpDown  DockPanel.Dock="Right" Background="Transparent" BorderThickness="0 0 0 0" Value="{Binding Value,UpdateSourceTrigger=PropertyChanged}" HasDecimals="True" HorizontalContentAlignment="Center" Width="100" />
+                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                            </DockPanel>
+                        </DataTemplate>
+                    </editors:ParameterizedEditor.DoubleTemplate>
+                    <editors:ParameterizedEditor.Int32Template>
+                        <DataTemplate>
+                            <DockPanel>
+                                <mahApps:NumericUpDown  DockPanel.Dock="Right" Background="Transparent" BorderThickness="0 0 0 0" Value="{Binding Value,Converter={StaticResource DoubleToIntConverter},UpdateSourceTrigger=PropertyChanged}" HasDecimals="False" HorizontalContentAlignment="Center" Width="100" />
+                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                            </DockPanel>
+                        </DataTemplate>
+                    </editors:ParameterizedEditor.Int32Template>
+                    <editors:ParameterizedEditor.BooleanTemplate>
+                        <DataTemplate>
+                            <DockPanel Margin="0 5 0 0">
+                                <ToggleButton DockPanel.Dock="Right"  Width="100" IsChecked="{Binding Value}" HorizontalAlignment="Right" />
+                                <TextBlock Text="{Binding Name}" VerticalAlignment="Center"></TextBlock>
+                            </DockPanel>
+                        </DataTemplate>
+                    </editors:ParameterizedEditor.BooleanTemplate>
+                </editors:ParameterizedEditor>
+            </GroupBox>
+
             <GroupBox Header="COLOR" Margin="0 10 0 0">
                 <StackPanel>
                     <Viewbox Margin="0 5 0 0">
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/DispenserItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/DispenserItem.cs
index b0d4cb595..573e497d5 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/DispenserItem.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/DispenserItem.cs
@@ -23,6 +23,26 @@ namespace Tango.MachineStudio.Technician.TechItems
         /// </summary>
         public event EventHandler<MotorActionType> ActionExecuted;
 
+        private static List<DispenserType> _dispenserTypes;
+        /// <summary>
+        /// Gets or sets the motor configurations.
+        /// </summary>
+        public static List<DispenserType> DispenserTypes
+        {
+            get { return _dispenserTypes; }
+            set { _dispenserTypes = value; }
+        }
+
+        static DispenserItem()
+        {
+            DispenserTypes = new List<DispenserType>();
+
+            foreach (var techDispenser in BL.ObservablesEntitiesAdapter.Instance.TechDispensers)
+            {
+                DispenserTypes.Add(new DispenserType() { Code = int.Parse(techDispenser.Name.Replace("Dispenser", "")) - 1 });
+            }
+        }
+
         /// <summary>
         /// Occurs when dispenser homing has completed.
         /// </summary>
@@ -36,7 +56,26 @@ namespace Tango.MachineStudio.Technician.TechItems
         public TechDispenser TechDispenser
         {
             get { return _techDispenser; }
-            set { _techDispenser = value; RaisePropertyChangedAuto(); TechName = _techDispenser != null ? _techDispenser.Description : null; ItemGuid = value != null ? value.Guid : null; }
+            set
+            {
+                _techDispenser = value; RaisePropertyChangedAuto(); TechName = _techDispenser != null ? _techDispenser.Description : null; ItemGuid = value != null ? value.Guid : null;
+
+                if (_techDispenser != null)
+                {
+                    DispenserType = DispenserTypes.SingleOrDefault(x => x.Code == int.Parse(_techDispenser.Name.Replace("Dispenser", "")) - 1);
+                }
+            }
+        }
+
+        private DispenserType _dispenserType;
+        /// <summary>
+        /// Gets or sets the type of the dispenser.
+        /// </summary>
+        [XmlIgnore]
+        public DispenserType DispenserType
+        {
+            get { return _dispenserType; }
+            set { _dispenserType = value; RaisePropertyChangedAuto(); }
         }
 
         private bool _isHoming;
@@ -119,6 +158,7 @@ namespace Tango.MachineStudio.Technician.TechItems
             Description = "Dispenser Controller";
             Image = ResourceHelper.GetImageFromResources("Images/dispenser-big.png");
             Color = Colors.White;
+            DispenserType = new DispenserType();
         }
 
         /// <summary>
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorGroupItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorGroupItem.cs
index 8199dd11e..5cdb8017e 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorGroupItem.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorGroupItem.cs
@@ -30,23 +30,23 @@ namespace Tango.MachineStudio.Technician.TechItems
         /// </summary>
         public event EventHandler HomingCompleted;
 
-        private SelectedObjectCollection<TechMotor> _selectedMotors;
+        private SelectedObjectCollection<HardwareMotorType> _selectedMotors;
         /// <summary>
         /// Gets or sets the selected db tech motors.
         /// </summary>
         [XmlIgnore]
-        public SelectedObjectCollection<TechMotor> SelectedMotors
+        public SelectedObjectCollection<HardwareMotorType> SelectedMotors
         {
             get { return _selectedMotors; }
             set { _selectedMotors = value; RaisePropertyChangedAuto(); }
         }
 
-        private ObservableCollection<TechMotor> _techMotors;
+        private ObservableCollection<HardwareMotorType> _techMotors;
         /// <summary>
         /// Gets or sets the available db tech motors.
         /// </summary>
         [XmlIgnore]
-        public ObservableCollection<TechMotor> TechMotors
+        public ObservableCollection<HardwareMotorType> TechMotors
         {
             get { return _techMotors; }
             set { _techMotors = value; RaisePropertyChangedAuto(); SetSelectedMotors(); }
@@ -59,7 +59,7 @@ namespace Tango.MachineStudio.Technician.TechItems
         {
             if (TechMotors != null)
             {
-                SelectedMotors = new SelectedObjectCollection<TechMotor>(ObservablesEntitiesAdapter.Instance.TechMotors.ToObservableCollection(), TechMotors);
+                SelectedMotors = new SelectedObjectCollection<HardwareMotorType>(ObservablesEntitiesAdapter.Instance.HardwareMotorTypes.ToObservableCollection(), TechMotors);
             }
         }
 
@@ -155,7 +155,7 @@ namespace Tango.MachineStudio.Technician.TechItems
         public MotorGroupItem() : base()
         {
             ItemsGuids = new List<string>();
-            TechMotors = new ObservableCollection<TechMotor>();
+            TechMotors = new ObservableCollection<HardwareMotorType>();
             Name = "Motor Group";
             Description = "Motor Group Controller";
             Image = ResourceHelper.GetImageFromResources("Images/motor-group.png");
@@ -179,7 +179,7 @@ namespace Tango.MachineStudio.Technician.TechItems
         public override TechItem Clone()
         {
             MotorGroupItem cloned = base.Clone() as MotorGroupItem;
-            cloned.TechMotors = new ObservableCollection<TechMotor>(TechMotors);
+            cloned.TechMotors = new ObservableCollection<HardwareMotorType>(TechMotors);
             cloned.Speed = Speed;
             cloned.ItemsGuids = ItemsGuids;
             cloned.TechMotors = cloned.TechMotors.ToObservableCollection();
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs
index 294c137dc..2df926093 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/TechItems/MotorItem.cs
@@ -8,6 +8,7 @@ using System.Xml.Serialization;
 using Tango.Core.Commands;
 using Tango.BL.Entities;
 using Tango.SharedUI.Helpers;
+using System.Collections.ObjectModel;
 
 namespace Tango.MachineStudio.Technician.TechItems
 {
@@ -23,22 +24,62 @@ namespace Tango.MachineStudio.Technician.TechItems
         /// </summary>
         public event EventHandler<MotorActionType> ActionExecuted;
 
+        private static List<HardwareMotor> _motorConfigurations;
+        /// <summary>
+        /// Gets or sets the motor configurations.
+        /// </summary>
+        public static List<HardwareMotor> MotorConfigurations
+        {
+            get { return _motorConfigurations; }
+            set { _motorConfigurations = value; }
+        }
+
+        static MotorItem()
+        {
+            MotorConfigurations = new List<HardwareMotor>();
+
+            foreach (var motorType in BL.ObservablesEntitiesAdapter.Instance.HardwareMotorTypes)
+            {
+                MotorConfigurations.Add(new HardwareMotor() { HardwareMotorType = motorType });
+            }
+        }
+
         /// <summary>
         /// Occurs when motor homing has completed.
         /// </summary>
         public event EventHandler HomingCompleted;
 
-        private TechMotor _techMotor;
+        private HardwareMotorType _hardwareMotorType;
         /// <summary>
         /// Gets or sets the db tech motor.
         /// </summary>
         [XmlIgnore]
-        public TechMotor TechMotor
+        public HardwareMotorType HardwareMotorType
+        {
+            get { return _hardwareMotorType; }
+            set
+            {
+                _hardwareMotorType = value; RaisePropertyChangedAuto(); TechName = _hardwareMotorType != null ? _hardwareMotorType.Description : null; ItemGuid = value != null ? value.Guid : null;
+
+                if (_hardwareMotorType != null)
+                {
+                    HardwareMotor = MotorConfigurations.SingleOrDefault(x => x.HardwareMotorType == _hardwareMotorType);
+                }
+            }
+        }
+
+        private HardwareMotor _hardwareMotor;
+        /// <summary>
+        /// Gets or sets the hardware motor.
+        /// </summary>
+        [XmlIgnore]
+        public HardwareMotor HardwareMotor
         {
-            get { return _techMotor; }
-            set { _techMotor = value; RaisePropertyChangedAuto(); TechName = _techMotor != null ? _techMotor.Description : null; ItemGuid = value != null ? value.Guid : null; }
+            get { return _hardwareMotor; }
+            set { _hardwareMotor = value; RaisePropertyChangedAuto(); }
         }
 
+
         private bool _isHoming;
         /// <summary>
         /// Gets or sets a value indicating whether the motor is currently homing.
@@ -119,15 +160,16 @@ namespace Tango.MachineStudio.Technician.TechItems
             Description = "Motor Controller";
             Image = ResourceHelper.GetImageFromResources("Images/engine.png");
             Color = Colors.White;
+            HardwareMotor = new HardwareMotor();
         }
 
         /// <summary>
         /// Initializes a new instance of the <see cref="MotorItem"/> class.
         /// </summary>
         /// <param name="techMotor">The tech motor.</param>
-        public MotorItem(TechMotor techMotor) : this()
+        public MotorItem(HardwareMotorType techMotor) : this()
         {
-            TechMotor = techMotor;
+            HardwareMotorType = techMotor;
         }
 
         /// <summary>
@@ -137,7 +179,7 @@ namespace Tango.MachineStudio.Technician.TechItems
         public override TechItem Clone()
         {
             MotorItem cloned = base.Clone() as MotorItem;
-            cloned.TechMotor = TechMotor;
+            cloned.HardwareMotorType = HardwareMotorType;
             cloned.Speed = Speed;
             return cloned;
         }
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
index 91c80a41a..4cc1852a6 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
@@ -49,7 +49,6 @@ namespace Tango.MachineStudio.Technician.ViewModels
         private IEventLogger _eventLogger;
         private DateTime _lastDiagnosticsResponseUpdate;
         private const int MIN_DIAGNOSTICS_UPDATE_MILI = 500;
-        private bool _isViewLoaded;
 
         #region Properties
 
@@ -458,7 +457,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
             }
             else if (item is MotorItem)
             {
-                var editor = CreateElement<MotorElementEditor, MotorItem, TechMotor>(bounds, Adapter.TechMotors.FirstOrDefault());
+                var editor = CreateElement<MotorElementEditor, MotorItem, HardwareMotorType>(bounds, Adapter.HardwareMotorTypes.FirstOrDefault());
                 InitMotorItem(editor.MotorItem);
             }
             else if (item is DispenserItem)
@@ -552,7 +551,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
             }
             else if (item is MotorItem)
             {
-                (item as MotorItem).TechMotor = Adapter.TechMotors.FirstOrDefault(x => x.Guid == item.ItemGuid);
+                (item as MotorItem).HardwareMotorType = Adapter.HardwareMotorTypes.FirstOrDefault(x => x.Guid == item.ItemGuid);
                 var editor = CreateElement<MotorElementEditor>(item);
                 InitMotorItem(editor.MotorItem);
             }
@@ -709,7 +708,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     {
                         await MachineOperator.StartMotorJogging(new MotorJoggingRequest()
                         {
-                            Code = item.TechMotor.Code,
+                            Code = item.HardwareMotorType.Code,
                             Direction = MotorDirection.Forward,
                         });
                     }
@@ -717,14 +716,14 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     {
                         await MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
                         {
-                            Code = item.TechMotor.Code,
+                            Code = item.HardwareMotorType.Code,
                         });
                     }
                     else if (action == MotorActionType.BackwardPressed)
                     {
                         await MachineOperator.StartMotorJogging(new MotorJoggingRequest()
                         {
-                            Code = item.TechMotor.Code,
+                            Code = item.HardwareMotorType.Code,
                             Direction = MotorDirection.Backward,
                         });
                     }
@@ -732,7 +731,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     {
                         await MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
                         {
-                            Code = item.TechMotor.Code,
+                            Code = item.HardwareMotorType.Code,
                         });
                     }
                     else if (action == MotorActionType.HomingStarted)
@@ -743,7 +742,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
 
                         MachineOperator.StartMotorHoming(new MotorHomingRequest()
                         {
-                            Code = item.TechMotor.Code
+                            Code = item.HardwareMotorType.Code
                         })
                         .Subscribe((response) =>
                         {
@@ -763,7 +762,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     {
                         await MachineOperator.StopMotorHoming(new MotorAbortHomingRequest()
                         {
-                            Code = item.TechMotor.Code,
+                            Code = item.HardwareMotorType.Code,
                         });
 
                         item.IsHoming = false;
@@ -1130,7 +1129,7 @@ namespace Tango.MachineStudio.Technician.ViewModels
                 {
                     if (item is MotorGroupItem)
                     {
-                        (item as MotorGroupItem).TechMotors = ObservablesEntitiesAdapter.Instance.TechMotors.Where(x => (item as MotorGroupItem).ItemsGuids.Contains(x.Guid)).ToObservableCollection();
+                        (item as MotorGroupItem).TechMotors = ObservablesEntitiesAdapter.Instance.HardwareMotorTypes.Where(x => (item as MotorGroupItem).ItemsGuids.Contains(x.Guid)).ToObservableCollection();
                     }
 
                     AddTechItem(item);
diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
index 53fcafb8f..6d4f3aefd 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/Views/MachineTechView.xaml
@@ -206,7 +206,7 @@
                         </ListBox>
                     </StackPanel>
 
-                    <StackPanel HorizontalAlignment="Right" Orientation="Horizontal" Margin="0 0 255 10" VerticalAlignment="Bottom">
+                    <StackPanel HorizontalAlignment="Right" Orientation="Horizontal" Margin="0 0 335 10" VerticalAlignment="Bottom">
                         <ListBox x:Name="listMode" SelectedIndex="0" Style="{StaticResource MaterialDesignToolToggleListBox}">
                             <ListBoxItem Height="40" Width="60" HorizontalContentAlignment="Center" ToolTip="Edit Mode">
                                 <materialDesign:PackIcon HorizontalAlignment="Center" Width="30" Height="30"  Kind="Pencil" />
@@ -216,24 +216,13 @@
                             </ListBoxItem>
                         </ListBox>
                     </StackPanel>
-
-                    <Border HorizontalAlignment="Right" Width="220" Margin="10 0 5 8" BorderBrush="Gainsboro" BorderThickness="1 0 1 1" Padding="5">
-                        <Grid>
-                            <StackPanel TextElement.FontSize="10" VerticalAlignment="Center" TextElement.Foreground="Gray">
-                                <TextBlock HorizontalAlignment="Center"><Run FontWeight="SemiBold" FontStyle="Italic">Version Name:</Run> <Run Text="{Binding MachineOperator.DeviceInformation.Name,FallbackValue='N/A'}"></Run></TextBlock>
-                                <TextBlock HorizontalAlignment="Center" Margin="0 2 0 0"><Run FontWeight="SemiBold" FontStyle="Italic">Version Number:</Run> <Run Text="{Binding MachineOperator.DeviceInformation.Version,FallbackValue='N/A'}"></Run></TextBlock>
-                                <TextBlock HorizontalAlignment="Center" Margin="0 2 0 0"><Run FontWeight="SemiBold" FontStyle="Italic">Build Date:</Run> <Run Text="{Binding MachineOperator.DeviceInformation.BuildDate,FallbackValue='N/A'}"></Run></TextBlock>
-                                <TextBlock HorizontalAlignment="Center" Margin="0 2 0 0"><Run FontWeight="SemiBold" FontStyle="Italic">Diagnostics Frame Size:</Run> <Run Text="{Binding CurrentDiagnosticsResponseSize,Converter={StaticResource NumberToFileSizeConverter},FallbackValue='N/A'}"></Run></TextBlock>
-                            </StackPanel>
-                        </Grid>
-                    </Border>
                 </Grid>
             </Grid>
 
             <Grid Grid.Row="1" Margin="5">
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition Width="1*"/>
-                    <ColumnDefinition Width="220"/>
+                    <ColumnDefinition Width="300"/>
                 </Grid.ColumnDefinitions>
 
                 <Grid>
@@ -321,84 +310,88 @@
                 <Grid Grid.Column="1">
                     <DockPanel>
                         <TextBlock DockPanel.Dock="Top" Margin="0 -30 0 0" DataContext="{Binding ElementName=editor,Path=SelectedElement.HostedElement}" Text="{Binding TechName}" FontSize="16" FontWeight="Bold" FontStyle="Italic"></TextBlock>
-                        <GroupBox DockPanel.Dock="Top" Header="BOUNDS" Padding="5">
+
+                        <ScrollViewer VerticalScrollBarVisibility="Auto">
                             <StackPanel>
-                                <!--Position-->
-                                <UniformGrid Columns="2" Margin="0 5 0 0">
-                                    <StackPanel Margin="0 0 5 0">
-                                        <TextBlock>Left</TextBlock>
-                                        <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="0" Maximum="{Binding ElementName=editor,Path=EditorWidth}" Value="{Binding ElementName=editor,Path=SelectedElement.Left}"></mahapps:NumericUpDown>
-                                    </StackPanel>
-                                    <StackPanel Margin="5 0 0 0">
-                                        <TextBlock>Top</TextBlock>
-                                        <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="0" Maximum="{Binding ElementName=editor,Path=EditorHeight}" Value="{Binding ElementName=editor,Path=SelectedElement.Top}"></mahapps:NumericUpDown>
-                                    </StackPanel>
-                                </UniformGrid>
+                                <GroupBox DockPanel.Dock="Top" Header="BOUNDS" Padding="5">
+                                    <StackPanel>
+                                        <!--Position-->
+                                        <UniformGrid Columns="2" Margin="0 5 0 0">
+                                            <StackPanel Margin="0 0 5 0">
+                                                <TextBlock>Left</TextBlock>
+                                                <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="0" Maximum="{Binding ElementName=editor,Path=EditorWidth}" Value="{Binding ElementName=editor,Path=SelectedElement.Left}"></mahapps:NumericUpDown>
+                                            </StackPanel>
+                                            <StackPanel Margin="5 0 0 0">
+                                                <TextBlock>Top</TextBlock>
+                                                <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="0" Maximum="{Binding ElementName=editor,Path=EditorHeight}" Value="{Binding ElementName=editor,Path=SelectedElement.Top}"></mahapps:NumericUpDown>
+                                            </StackPanel>
+                                        </UniformGrid>
 
-                                <!--Size-->
-                                <UniformGrid Columns="2" Margin="0 20 0 0">
-                                    <StackPanel Margin="0 0 5 0">
-                                        <TextBlock>Width</TextBlock>
-                                        <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="10" Maximum="{Binding ElementName=editor,Path=EditorWidth}" Value="{Binding ElementName=editor,Path=SelectedElement.Width}"></mahapps:NumericUpDown>
-                                    </StackPanel>
-                                    <StackPanel Margin="5 0 0 0">
-                                        <TextBlock>Height</TextBlock>
-                                        <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="10" Maximum="{Binding ElementName=editor,Path=EditorHeight}" Value="{Binding ElementName=editor,Path=SelectedElement.Height}"></mahapps:NumericUpDown>
+                                        <!--Size-->
+                                        <UniformGrid Columns="2" Margin="0 20 0 0">
+                                            <StackPanel Margin="0 0 5 0">
+                                                <TextBlock>Width</TextBlock>
+                                                <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="10" Maximum="{Binding ElementName=editor,Path=EditorWidth}" Value="{Binding ElementName=editor,Path=SelectedElement.Width}"></mahapps:NumericUpDown>
+                                            </StackPanel>
+                                            <StackPanel Margin="5 0 0 0">
+                                                <TextBlock>Height</TextBlock>
+                                                <mahapps:NumericUpDown HasDecimals="False" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Margin="0 5 0 0" Minimum="10" Maximum="{Binding ElementName=editor,Path=EditorHeight}" Value="{Binding ElementName=editor,Path=SelectedElement.Height}"></mahapps:NumericUpDown>
+                                            </StackPanel>
+                                        </UniformGrid>
+
+                                        <!--<Angle-->
+                                        <Grid Margin="0 20 0 0">
+                                            <Grid.ColumnDefinitions>
+                                                <ColumnDefinition Width="22*"></ColumnDefinition>
+                                                <ColumnDefinition Width="20*"></ColumnDefinition>
+                                            </Grid.ColumnDefinitions>
+                                            <TextBlock VerticalAlignment="Center" Margin="0 0 10 0" HorizontalAlignment="Left">Angle</TextBlock>
+                                            <mahapps:NumericUpDown Grid.Column="1" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Maximum="360" Minimum="-360" HasDecimals="False" Margin="0 5 0 0" Value="{Binding ElementName=editor,Path=SelectedElement.Angle}"></mahapps:NumericUpDown>
+                                        </Grid>
                                     </StackPanel>
-                                </UniformGrid>
+                                </GroupBox>
+                                <ContentControl Margin="0 10 0 0" DataContext="{Binding ElementName=editor,Path=SelectedElement.HostedElement}" Content="{Binding ElementName=editor,Path=SelectedElement.HostedElement}">
+                                    <ContentControl.Resources>
+                                        <DataTemplate DataType="{x:Type sys:Nullable}">
 
-                                <!--<Angle-->
-                                <Grid Margin="0 20 0 0">
-                                    <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="22*"></ColumnDefinition>
-                                        <ColumnDefinition Width="20*"></ColumnDefinition>
-                                    </Grid.ColumnDefinitions>
-                                    <TextBlock VerticalAlignment="Center" Margin="0 0 10 0" HorizontalAlignment="Left">Angle</TextBlock>
-                                    <mahapps:NumericUpDown Grid.Column="1" HorizontalContentAlignment="Center" BorderBrush="Gainsboro" Foreground="Gray" Maximum="360" Minimum="-360" HasDecimals="False" Margin="0 5 0 0" Value="{Binding ElementName=editor,Path=SelectedElement.Angle}"></mahapps:NumericUpDown>
-                                </Grid>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:ControllerItem}">
+                                            <templates:ControllerTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:MonitorItem}">
+                                            <templates:MonitorTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:DigitalInItem}">
+                                            <templates:DigitalInTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:MotorGroupItem}">
+                                            <templates:MotorGroupTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:ThreadMotionItem}">
+                                            <templates:ThreadMotionTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:DigitalOutItem}">
+                                            <templates:DigitalOutTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:DispenserItem}">
+                                            <templates:DispenserTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:MotorItem}">
+                                            <templates:MotorTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:MeterItem}">
+                                            <templates:MeterTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:SingleGraphItem}">
+                                            <templates:SingleGraphTemplate/>
+                                        </DataTemplate>
+                                        <DataTemplate DataType="{x:Type items:MultiGraphItem}">
+                                            <templates:MultiGraphTemplate/>
+                                        </DataTemplate>
+                                    </ContentControl.Resources>
+                                </ContentControl>
                             </StackPanel>
-                        </GroupBox>
-
-                        <ContentControl Margin="0 10 0 0" DataContext="{Binding ElementName=editor,Path=SelectedElement.HostedElement}" Content="{Binding ElementName=editor,Path=SelectedElement.HostedElement}">
-                            <ContentControl.Resources>
-                                <DataTemplate DataType="{x:Type sys:Nullable}">
-
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:ControllerItem}">
-                                    <templates:ControllerTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:MonitorItem}">
-                                    <templates:MonitorTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:DigitalInItem}">
-                                    <templates:DigitalInTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:MotorGroupItem}">
-                                    <templates:MotorGroupTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:ThreadMotionItem}">
-                                    <templates:ThreadMotionTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:DigitalOutItem}">
-                                    <templates:DigitalOutTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:DispenserItem}">
-                                    <templates:DispenserTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:MotorItem}">
-                                    <templates:MotorTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:MeterItem}">
-                                    <templates:MeterTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:SingleGraphItem}">
-                                    <templates:SingleGraphTemplate/>
-                                </DataTemplate>
-                                <DataTemplate DataType="{x:Type items:MultiGraphItem}">
-                                    <templates:MultiGraphTemplate/>
-                                </DataTemplate>
-                            </ContentControl.Resources>
-                        </ContentControl>
+                        </ScrollViewer>
                     </DockPanel>
                 </Grid>
             </Grid>
diff --git a/Software/Visual_Studio/Tango.BL/Entities/DispenserType.cs b/Software/Visual_Studio/Tango.BL/Entities/DispenserType.cs
index 9bbe2c5cc..b641ab83b 100644
--- a/Software/Visual_Studio/Tango.BL/Entities/DispenserType.cs
+++ b/Software/Visual_Studio/Tango.BL/Entities/DispenserType.cs
@@ -94,246 +94,6 @@ namespace Tango.BL.Entities
 
         }
 
-        protected Int32 _minfrequency;
-        /// <summary>
-        /// Gets or sets the dispensertype min frequency.
-        /// </summary>
-        [Column("MIN_FREQUENCY")]
-
-        public  Int32 MinFrequency
-        {
-            get 
-            {
-                return _minfrequency; 
-            }
-
-            set 
-            {
-                _minfrequency = value; RaisePropertyChanged(nameof(MinFrequency)); 
-            }
-
-        }
-
-        protected Int32 _maxfrequency;
-        /// <summary>
-        /// Gets or sets the dispensertype max frequency.
-        /// </summary>
-        [Column("MAX_FREQUENCY")]
-
-        public  Int32 MaxFrequency
-        {
-            get 
-            {
-                return _maxfrequency; 
-            }
-
-            set 
-            {
-                _maxfrequency = value; RaisePropertyChanged(nameof(MaxFrequency)); 
-            }
-
-        }
-
-        protected Int32 _minmicrostep;
-        /// <summary>
-        /// Gets or sets the dispensertype min micro step.
-        /// </summary>
-        [Column("MIN_MICRO_STEP")]
-
-        public  Int32 MinMicroStep
-        {
-            get 
-            {
-                return _minmicrostep; 
-            }
-
-            set 
-            {
-                _minmicrostep = value; RaisePropertyChanged(nameof(MinMicroStep)); 
-            }
-
-        }
-
-        protected Int32 _maxmicrostep;
-        /// <summary>
-        /// Gets or sets the dispensertype max micro step.
-        /// </summary>
-        [Column("MAX_MICRO_STEP")]
-
-        public  Int32 MaxMicroStep
-        {
-            get 
-            {
-                return _maxmicrostep; 
-            }
-
-            set 
-            {
-                _maxmicrostep = value; RaisePropertyChanged(nameof(MaxMicroStep)); 
-            }
-
-        }
-
-        protected Double _correctiongain;
-        /// <summary>
-        /// Gets or sets the dispensertype correction gain.
-        /// </summary>
-        [Column("CORRECTION_GAIN")]
-
-        public  Double CorrectionGain
-        {
-            get 
-            {
-                return _correctiongain; 
-            }
-
-            set 
-            {
-                _correctiongain = value; RaisePropertyChanged(nameof(CorrectionGain)); 
-            }
-
-        }
-
-        protected Double _ratiotodryerspeed;
-        /// <summary>
-        /// Gets or sets the dispensertype ratio to dryer speed.
-        /// </summary>
-        [Column("RATIO_TO_DRYER_SPEED")]
-
-        public  Double RatioToDryerSpeed
-        {
-            get 
-            {
-                return _ratiotodryerspeed; 
-            }
-
-            set 
-            {
-                _ratiotodryerspeed = value; RaisePropertyChanged(nameof(RatioToDryerSpeed)); 
-            }
-
-        }
-
-        protected Double _kp;
-        /// <summary>
-        /// Gets or sets the dispensertype kp.
-        /// </summary>
-        [Column("KP")]
-
-        public  Double Kp
-        {
-            get 
-            {
-                return _kp; 
-            }
-
-            set 
-            {
-                _kp = value; RaisePropertyChanged(nameof(Kp)); 
-            }
-
-        }
-
-        protected Double _ki;
-        /// <summary>
-        /// Gets or sets the dispensertype ki.
-        /// </summary>
-        [Column("KI")]
-
-        public  Double Ki
-        {
-            get 
-            {
-                return _ki; 
-            }
-
-            set 
-            {
-                _ki = value; RaisePropertyChanged(nameof(Ki)); 
-            }
-
-        }
-
-        protected Double _kd;
-        /// <summary>
-        /// Gets or sets the dispensertype kd.
-        /// </summary>
-        [Column("KD")]
-
-        public  Double Kd
-        {
-            get 
-            {
-                return _kd; 
-            }
-
-            set 
-            {
-                _kd = value; RaisePropertyChanged(nameof(Kd)); 
-            }
-
-        }
-
-        protected Double _changeslope;
-        /// <summary>
-        /// Gets or sets the dispensertype change slope.
-        /// </summary>
-        [Column("CHANGE_SLOPE")]
-
-        public  Double ChangeSlope
-        {
-            get 
-            {
-                return _changeslope; 
-            }
-
-            set 
-            {
-                _changeslope = value; RaisePropertyChanged(nameof(ChangeSlope)); 
-            }
-
-        }
-
-        protected Double _highlengthmicrosecond;
-        /// <summary>
-        /// Gets or sets the dispensertype high length micro second.
-        /// </summary>
-        [Column("HIGH_LENGTH_MICRO_SECOND")]
-
-        public  Double HighLengthMicroSecond
-        {
-            get 
-            {
-                return _highlengthmicrosecond; 
-            }
-
-            set 
-            {
-                _highlengthmicrosecond = value; RaisePropertyChanged(nameof(HighLengthMicroSecond)); 
-            }
-
-        }
-
-        protected Int32 _controltiming;
-        /// <summary>
-        /// Gets or sets the dispensertype control timing.
-        /// </summary>
-        [Column("CONTROL_TIMING")]
-
-        public  Int32 ControlTiming
-        {
-            get 
-            {
-                return _controltiming; 
-            }
-
-            set 
-            {
-                _controltiming = value; RaisePropertyChanged(nameof(ControlTiming)); 
-            }
-
-        }
-
         protected ObservableCollection<IdsPack> _idspacks;
         /// <summary>
         /// Gets or sets the dispensertype ids packs.
diff --git a/Software/Visual_Studio/Tango.BL/Entities/HardwareMotor.cs b/Software/Visual_Studio/Tango.BL/Entities/HardwareMotor.cs
index 75fb30549..781297287 100644
--- a/Software/Visual_Studio/Tango.BL/Entities/HardwareMotor.cs
+++ b/Software/Visual_Studio/Tango.BL/Entities/HardwareMotor.cs
@@ -276,6 +276,166 @@ namespace Tango.BL.Entities
 
         }
 
+        protected Int32 _kvalhold;
+        /// <summary>
+        /// Gets or sets the hardwaremotor kval hold.
+        /// </summary>
+        [Column("KVAL_HOLD")]
+
+        public  Int32 KvalHold
+        {
+            get 
+            {
+                return _kvalhold; 
+            }
+
+            set 
+            {
+                _kvalhold = value; RaisePropertyChanged(nameof(KvalHold)); 
+            }
+
+        }
+
+        protected Int32 _kvalrun;
+        /// <summary>
+        /// Gets or sets the hardwaremotor kval run.
+        /// </summary>
+        [Column("KVAL_RUN")]
+
+        public  Int32 KvalRun
+        {
+            get 
+            {
+                return _kvalrun; 
+            }
+
+            set 
+            {
+                _kvalrun = value; RaisePropertyChanged(nameof(KvalRun)); 
+            }
+
+        }
+
+        protected Int32 _kvalacc;
+        /// <summary>
+        /// Gets or sets the hardwaremotor kval acc.
+        /// </summary>
+        [Column("KVAL_ACC")]
+
+        public  Int32 KvalAcc
+        {
+            get 
+            {
+                return _kvalacc; 
+            }
+
+            set 
+            {
+                _kvalacc = value; RaisePropertyChanged(nameof(KvalAcc)); 
+            }
+
+        }
+
+        protected Int32 _kvaldec;
+        /// <summary>
+        /// Gets or sets the hardwaremotor kval dec.
+        /// </summary>
+        [Column("KVAL_DEC")]
+
+        public  Int32 KvalDec
+        {
+            get 
+            {
+                return _kvaldec; 
+            }
+
+            set 
+            {
+                _kvaldec = value; RaisePropertyChanged(nameof(KvalDec)); 
+            }
+
+        }
+
+        protected Int32 _overcurrentthreshold;
+        /// <summary>
+        /// Gets or sets the hardwaremotor over current threshold.
+        /// </summary>
+        [Column("OVER_CURRENT_THRESHOLD")]
+
+        public  Int32 OverCurrentThreshold
+        {
+            get 
+            {
+                return _overcurrentthreshold; 
+            }
+
+            set 
+            {
+                _overcurrentthreshold = value; RaisePropertyChanged(nameof(OverCurrentThreshold)); 
+            }
+
+        }
+
+        protected Int32 _stallthreshold;
+        /// <summary>
+        /// Gets or sets the hardwaremotor stall threshold.
+        /// </summary>
+        [Column("STALL_THRESHOLD")]
+
+        public  Int32 StallThreshold
+        {
+            get 
+            {
+                return _stallthreshold; 
+            }
+
+            set 
+            {
+                _stallthreshold = value; RaisePropertyChanged(nameof(StallThreshold)); 
+            }
+
+        }
+
+        protected Int32 _thermalcompensationfactor;
+        /// <summary>
+        /// Gets or sets the hardwaremotor thermal compensation factor.
+        /// </summary>
+        [Column("THERMAL_COMPENSATION_FACTOR")]
+
+        public  Int32 ThermalCompensationFactor
+        {
+            get 
+            {
+                return _thermalcompensationfactor; 
+            }
+
+            set 
+            {
+                _thermalcompensationfactor = value; RaisePropertyChanged(nameof(ThermalCompensationFactor)); 
+            }
+
+        }
+
+        protected Boolean _lowspeedoptimization;
+        /// <summary>
+        /// Gets or sets the hardwaremotor low speed optimization.
+        /// </summary>
+        [Column("LOW_SPEED_OPTIMIZATION")]
+
+        public  Boolean LowSpeedOptimization
+        {
+            get 
+            {
+                return _lowspeedoptimization; 
+            }
+
+            set 
+            {
+                _lowspeedoptimization = value; RaisePropertyChanged(nameof(LowSpeedOptimization)); 
+            }
+
+        }
+
         protected HardwareMotorType _hardwaremotortype;
         /// <summary>
         /// Gets or sets the hardwaremotor hardware motor types.
diff --git a/Software/Visual_Studio/Tango.BL/Entities/HardwareMotorType.cs b/Software/Visual_Studio/Tango.BL/Entities/HardwareMotorType.cs
index 61309e984..a7a71527f 100644
--- a/Software/Visual_Studio/Tango.BL/Entities/HardwareMotorType.cs
+++ b/Software/Visual_Studio/Tango.BL/Entities/HardwareMotorType.cs
@@ -74,6 +74,26 @@ namespace Tango.BL.Entities
 
         }
 
+        protected Boolean _supportshoming;
+        /// <summary>
+        /// Gets or sets the hardwaremotortype supports homing.
+        /// </summary>
+        [Column("SUPPORTS_HOMING")]
+
+        public  Boolean SupportsHoming
+        {
+            get 
+            {
+                return _supportshoming; 
+            }
+
+            set 
+            {
+                _supportshoming = value; RaisePropertyChanged(nameof(SupportsHoming)); 
+            }
+
+        }
+
         protected ObservableCollection<HardwareMotor> _hardwaremotors;
         /// <summary>
         /// Gets or sets the hardwaremotortype hardware motors.
diff --git a/Software/Visual_Studio/Tango.BL/Entities/IdsPack.cs b/Software/Visual_Studio/Tango.BL/Entities/IdsPack.cs
index 387379fe7..4955baaec 100644
--- a/Software/Visual_Studio/Tango.BL/Entities/IdsPack.cs
+++ b/Software/Visual_Studio/Tango.BL/Entities/IdsPack.cs
@@ -119,6 +119,27 @@ namespace Tango.BL.Entities
 
         }
 
+        protected String _idspackformulaguid;
+        /// <summary>
+        /// Gets or sets the idspack ids pack formula guid.
+        /// </summary>
+        [Column("IDS_PACK_FORMULA_GUID")]
+        [ForeignKey("IdsPackFormula")]
+
+        public  String IdsPackFormulaGuid
+        {
+            get 
+            {
+                return _idspackformulaguid; 
+            }
+
+            set 
+            {
+                _idspackformulaguid = value; RaisePropertyChanged(nameof(IdsPackFormulaGuid)); 
+            }
+
+        }
+
         protected String _name;
         /// <summary>
         /// Gets or sets the idspack name.
@@ -159,23 +180,22 @@ namespace Tango.BL.Entities
 
         }
 
-        protected String _idspackformulaguid;
+        protected Boolean _isempty;
         /// <summary>
-        /// Gets or sets the idspack ids pack formula guid.
+        /// Gets or sets the idspack is empty.
         /// </summary>
-        [Column("IDS_PACK_FORMULA_GUID")]
-        [ForeignKey("IdsPackFormula")]
+        [Column("IS_EMPTY")]
 
-        public  String IdsPackFormulaGuid
+        public  Boolean IsEmpty
         {
             get 
             {
-                return _idspackformulaguid; 
+                return _isempty; 
             }
 
             set 
             {
-                _idspackformulaguid = value; RaisePropertyChanged(nameof(IdsPackFormulaGuid)); 
+                _isempty = value; RaisePropertyChanged(nameof(IsEmpty)); 
             }
 
         }
diff --git a/Software/Visual_Studio/Tango.BL/Entities/TechMotor.cs b/Software/Visual_Studio/Tango.BL/Entities/TechMotor.cs
deleted file mode 100644
index 95006dfd1..000000000
--- a/Software/Visual_Studio/Tango.BL/Entities/TechMotor.cs
+++ /dev/null
@@ -1,104 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Collections.ObjectModel;
-using System.ComponentModel.DataAnnotations;
-using System.ComponentModel.DataAnnotations.Schema;
-using System.Xml.Serialization;
-using Newtonsoft.Json;
-using System.Linq;
-using Tango.DAL.Remote.DB;
-
-namespace Tango.BL.Entities
-{
-    [Table("TECH_MOTORS")]
-    public partial class TechMotor : ObservableEntity<TechMotor>
-    {
-
-        protected Int32 _code;
-        /// <summary>
-        /// Gets or sets the techmotor code.
-        /// </summary>
-        [Column("CODE")]
-
-        public  Int32 Code
-        {
-            get 
-            {
-                return _code; 
-            }
-
-            set 
-            {
-                _code = value; RaisePropertyChanged(nameof(Code)); 
-            }
-
-        }
-
-        protected String _name;
-        /// <summary>
-        /// Gets or sets the techmotor name.
-        /// </summary>
-        [Column("NAME")]
-
-        public  String Name
-        {
-            get 
-            {
-                return _name; 
-            }
-
-            set 
-            {
-                _name = value; RaisePropertyChanged(nameof(Name)); 
-            }
-
-        }
-
-        protected String _description;
-        /// <summary>
-        /// Gets or sets the techmotor description.
-        /// </summary>
-        [Column("DESCRIPTION")]
-
-        public  String Description
-        {
-            get 
-            {
-                return _description; 
-            }
-
-            set 
-            {
-                _description = value; RaisePropertyChanged(nameof(Description)); 
-            }
-
-        }
-
-        protected Boolean _supportshoming;
-        /// <summary>
-        /// Gets or sets the techmotor supports homing.
-        /// </summary>
-        [Column("SUPPORTS_HOMING")]
-
-        public  Boolean SupportsHoming
-        {
-            get 
-            {
-                return _supportshoming; 
-            }
-
-            set 
-            {
-                _supportshoming = value; RaisePropertyChanged(nameof(SupportsHoming)); 
-            }
-
-        }
-
-        /// <summary>
-        /// Initializes a new instance of the <see cref="TechMotor" /> class.
-        /// </summary>
-        public TechMotor() : base()
-        {
-        }
-    }
-}
diff --git a/Software/Visual_Studio/Tango.BL/EntitiesExtensions/BrushStop.cs b/Software/Visual_Studio/Tango.BL/EntitiesExtensions/BrushStop.cs
index 8ab24b308..ad5781b7b 100644
--- a/Software/Visual_Studio/Tango.BL/EntitiesExtensions/BrushStop.cs
+++ b/Software/Visual_Studio/Tango.BL/EntitiesExtensions/BrushStop.cs
@@ -164,7 +164,7 @@ namespace Tango.BL.Entities
         {
             LiquidVolumes = new ObservableCollection<LiquidVolume>();
 
-            foreach (var idsPack in configuration.IdsPacks)
+            foreach (var idsPack in configuration.NoneEmptyIdsPacks)
             {
                 LiquidVolumes.Add(new LiquidVolume(configuration, idsPack, rml, processParametersTable, this));
             }
diff --git a/Software/Visual_Studio/Tango.BL/EntitiesExtensions/Configuration.cs b/Software/Visual_Studio/Tango.BL/EntitiesExtensions/Configuration.cs
index 963ed638d..2b0673317 100644
--- a/Software/Visual_Studio/Tango.BL/EntitiesExtensions/Configuration.cs
+++ b/Software/Visual_Studio/Tango.BL/EntitiesExtensions/Configuration.cs
@@ -1,13 +1,24 @@
-using System;
+using Newtonsoft.Json;
+using System;
 using System.Collections.Generic;
+using System.ComponentModel.DataAnnotations.Schema;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Xml.Serialization;
 
 namespace Tango.BL.Entities
 {
     public partial class Configuration
     {
+        [NotMapped]
+        [XmlIgnore]
+        [JsonIgnore]
+        public IEnumerable<IdsPack> NoneEmptyIdsPacks
+        {
+            get { return IdsPacks.Where(x => !x.IsEmpty); }
+        }
+
         public override void DefferedDelete(ObservablesContext context)
         {
             IdsPacks.ToList().ForEach(x => x.DefferedDelete(context));
diff --git a/Software/Visual_Studio/Tango.BL/Enumerations/HardwarePidControlTypes.cs b/Software/Visual_Studio/Tango.BL/Enumerations/HardwarePidControlTypes.cs
index 389510997..61d149a90 100644
--- a/Software/Visual_Studio/Tango.BL/Enumerations/HardwarePidControlTypes.cs
+++ b/Software/Visual_Studio/Tango.BL/Enumerations/HardwarePidControlTypes.cs
@@ -87,5 +87,53 @@ namespace Tango.BL.Enumerations
         [Description("Winder Motor")]
         MotorWinder = 12,
 
+        /// <summary>
+        /// (Dispenser 1)
+        /// </summary>
+        [Description("Dispenser 1")]
+        Dispenser1 = 13,
+
+        /// <summary>
+        /// (Dispenser 2)
+        /// </summary>
+        [Description("Dispenser 2")]
+        Dispenser2 = 14,
+
+        /// <summary>
+        /// (Dispenser 3)
+        /// </summary>
+        [Description("Dispenser 3")]
+        Dispenser3 = 15,
+
+        /// <summary>
+        /// (Dispenser 4)
+        /// </summary>
+        [Description("Dispenser 4")]
+        Dispenser4 = 16,
+
+        /// <summary>
+        /// (Dispenser 5)
+        /// </summary>
+        [Description("Dispenser 5")]
+        Dispenser5 = 17,
+
+        /// <summary>
+        /// (Dispenser 6)
+        /// </summary>
+        [Description("Dispenser 6")]
+        Dispenser6 = 18,
+
+        /// <summary>
+        /// (Dispenser 7)
+        /// </summary>
+        [Description("Dispenser 7")]
+        Dispenser7 = 19,
+
+        /// <summary>
+        /// (Dispenser 8)
+        /// </summary>
+        [Description("Dispenser 8")]
+        Dispenser8 = 20,
+
     }
 }
diff --git a/Software/Visual_Studio/Tango.BL/ExtensionMethods/ConfigurationExtensions.cs b/Software/Visual_Studio/Tango.BL/ExtensionMethods/ConfigurationExtensions.cs
index 323e4744b..9dab200d6 100644
--- a/Software/Visual_Studio/Tango.BL/ExtensionMethods/ConfigurationExtensions.cs
+++ b/Software/Visual_Studio/Tango.BL/ExtensionMethods/ConfigurationExtensions.cs
@@ -28,6 +28,7 @@ public static class ConfigurationExtensions
             clonedPack.CartridgeType = idsPack.CartridgeType;
             clonedPack.MidTankType = idsPack.MidTankType;
             clonedPack.IdsPackFormula = idsPack.IdsPackFormula;
+            clonedPack.IsEmpty = idsPack.IsEmpty;
             cloned.IdsPacks.Add(clonedPack);
         }
 
diff --git a/Software/Visual_Studio/Tango.BL/LiquidVolume.cs b/Software/Visual_Studio/Tango.BL/LiquidVolume.cs
index 32cd00a86..7049b5fd0 100644
--- a/Software/Visual_Studio/Tango.BL/LiquidVolume.cs
+++ b/Software/Visual_Studio/Tango.BL/LiquidVolume.cs
@@ -86,7 +86,7 @@ namespace Tango.BL
         {
             _volume = DispensingCalcService.CoerceVolume(this);
 
-            typeof(BrushStop).GetProperty("V" + Configuration.IdsPacks.IndexOf(IdsPack)).SetValue(BrushStop, Volume);
+            typeof(BrushStop).GetProperty("V" + IdsPack.PackIndex).SetValue(BrushStop, Volume);
             RaisePropertyChanged(nameof(LiquidMaxNanoliterPerCentimeter));
             RaisePropertyChanged(nameof(NanoliterPerSecond));
             RaisePropertyChanged(nameof(PulsePerSecond));
@@ -107,7 +107,7 @@ namespace Tango.BL
             Configuration = configuration;
             RML = rml;
 
-            Volume = (double)typeof(BrushStop).GetProperty("V" + Configuration.IdsPacks.IndexOf(IdsPack)).GetValue(BrushStop);
+            Volume = (double)typeof(BrushStop).GetProperty("V" + IdsPack.PackIndex).GetValue(BrushStop);
         }
 
         private void OnVolumeChanged()
@@ -122,7 +122,7 @@ namespace Tango.BL
             {
                 if (Configuration != null && RML != null)
                 {
-                    List<LiquidTypesRml> factors = Configuration.IdsPacks.OrderBy(x => x.PackIndex).Select(x => x.LiquidType).SelectMany(x => x.LiquidTypesRmls).Where(x => x.Rml.Guid == RML.Guid).ToList();
+                    List<LiquidTypesRml> factors = Configuration.NoneEmptyIdsPacks.OrderBy(x => x.PackIndex).Select(x => x.LiquidType).SelectMany(x => x.LiquidTypesRmls).Where(x => x.Rml.Guid == RML.Guid).ToList();
 
                     if (BrushStop.LiquidVolumes.IndexOf(this) > factors.Count - 1)
                     {
diff --git a/Software/Visual_Studio/Tango.BL/ObservablesContext.cs b/Software/Visual_Studio/Tango.BL/ObservablesContext.cs
index cfeccaeb6..29f244c52 100644
--- a/Software/Visual_Studio/Tango.BL/ObservablesContext.cs
+++ b/Software/Visual_Studio/Tango.BL/ObservablesContext.cs
@@ -525,14 +525,6 @@ namespace Tango.BL
         }
 
         /// <summary>
-        /// Gets or sets the TechMotors.
-        /// </summary>
-        public DbSet<TechMotor> TechMotors 
-        {
-            get; set; 
-        }
-
-        /// <summary>
         /// Gets or sets the TechValves.
         /// </summary>
         public DbSet<TechValf> TechValves 
diff --git a/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapter.cs b/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapter.cs
index e4c4cfd00..3032cb9a3 100644
--- a/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapter.cs
+++ b/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapter.cs
@@ -270,8 +270,6 @@ namespace Tango.BL
 
                 TechMonitors = Context.TechMonitors.ToObservableCollection();
 
-                TechMotors = Context.TechMotors.ToObservableCollection();
-
                 TechDispensers = Context.TechDispensers.ToObservableCollection();
 
                 TechValves = Context.TechValves.ToObservableCollection();
diff --git a/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapterExtension.cs b/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapterExtension.cs
index c3be8cb1e..eef938260 100644
--- a/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapterExtension.cs
+++ b/Software/Visual_Studio/Tango.BL/ObservablesEntitiesAdapterExtension.cs
@@ -2311,42 +2311,6 @@ namespace Tango.BL
 
         }
 
-        private ObservableCollection<TechMotor> _techmotors;
-        /// <summary>
-        /// Gets or sets the TechMotors.
-        /// </summary>
-        public ObservableCollection<TechMotor> TechMotors
-        {
-            get 
-            {
-                return _techmotors; 
-            }
-
-            set 
-            {
-                _techmotors = value; RaisePropertyChanged(nameof(TechMotors)); 
-            }
-
-        }
-
-        private ICollectionView _techmotorsViewSource;
-        /// <summary>
-        /// Gets or sets the TechMotors View Source.
-        ///</summary>
-        public ICollectionView TechMotorsViewSource
-        {
-            get 
-            {
-                return _techmotorsViewSource; 
-            }
-
-            set 
-            {
-                _techmotorsViewSource = value; RaisePropertyChanged(nameof(TechMotorsViewSource)); 
-            }
-
-        }
-
         private ObservableCollection<TechValf> _techvalves;
         /// <summary>
         /// Gets or sets the TechValves.
@@ -2625,8 +2589,6 @@ namespace Tango.BL
 
             TechMonitorsViewSource = CreateCollectionView(TechMonitors);
 
-            TechMotorsViewSource = CreateCollectionView(TechMotors);
-
             TechValvesViewSource = CreateCollectionView(TechValves);
 
             UsersViewSource = CreateCollectionView(Users);
diff --git a/Software/Visual_Studio/Tango.BL/Tango.BL.csproj b/Software/Visual_Studio/Tango.BL/Tango.BL.csproj
index f9b55d97e..3308fd103 100644
--- a/Software/Visual_Studio/Tango.BL/Tango.BL.csproj
+++ b/Software/Visual_Studio/Tango.BL/Tango.BL.csproj
@@ -160,7 +160,6 @@
     <Compile Include="Entities\TechDispenser.cs" />
     <Compile Include="Entities\TechIo.cs" />
     <Compile Include="Entities\TechMonitor.cs" />
-    <Compile Include="Entities\TechMotor.cs" />
     <Compile Include="Entities\TechValf.cs" />
     <Compile Include="Entities\User.cs" />
     <Compile Include="Entities\UsersRole.cs" />
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/DISPENSER_TYPES.cs b/Software/Visual_Studio/Tango.DAL.Remote/DB/DISPENSER_TYPES.cs
index 61ac91506..efe9286f2 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/DISPENSER_TYPES.cs
+++ b/Software/Visual_Studio/Tango.DAL.Remote/DB/DISPENSER_TYPES.cs
@@ -27,18 +27,6 @@ namespace Tango.DAL.Remote.DB
         public string NAME { get; set; }
         public double NL_PER_PULSE { get; set; }
         public double CAPACITY { get; set; }
-        public int MIN_FREQUENCY { get; set; }
-        public int MAX_FREQUENCY { get; set; }
-        public int MIN_MICRO_STEP { get; set; }
-        public int MAX_MICRO_STEP { get; set; }
-        public double CORRECTION_GAIN { get; set; }
-        public double RATIO_TO_DRYER_SPEED { get; set; }
-        public double KP { get; set; }
-        public double KI { get; set; }
-        public double KD { get; set; }
-        public double CHANGE_SLOPE { get; set; }
-        public double HIGH_LENGTH_MICRO_SECOND { get; set; }
-        public int CONTROL_TIMING { get; set; }
     
         [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Usage", "CA2227:CollectionPropertiesShouldBeReadOnly")]
         public virtual ICollection<IDS_PACKS> IDS_PACKS { get; set; }
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTORS.cs b/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTORS.cs
index 2124049f6..fc57b4b9f 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTORS.cs
+++ b/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTORS.cs
@@ -30,6 +30,14 @@ namespace Tango.DAL.Remote.DB
         public double PULLEY_RADIUS { get; set; }
         public int CONFIG_WORD { get; set; }
         public bool DIRECTION_THREAD_WIZE { get; set; }
+        public int KVAL_HOLD { get; set; }
+        public int KVAL_RUN { get; set; }
+        public int KVAL_ACC { get; set; }
+        public int KVAL_DEC { get; set; }
+        public int OVER_CURRENT_THRESHOLD { get; set; }
+        public int STALL_THRESHOLD { get; set; }
+        public int THERMAL_COMPENSATION_FACTOR { get; set; }
+        public bool LOW_SPEED_OPTIMIZATION { get; set; }
     
         public virtual HARDWARE_MOTOR_TYPES HARDWARE_MOTOR_TYPES { get; set; }
         public virtual HARDWARE_VERSIONS HARDWARE_VERSIONS { get; set; }
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTOR_TYPES.cs b/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTOR_TYPES.cs
index 490405f81..61802718a 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTOR_TYPES.cs
+++ b/Software/Visual_Studio/Tango.DAL.Remote/DB/HARDWARE_MOTOR_TYPES.cs
@@ -26,6 +26,7 @@ namespace Tango.DAL.Remote.DB
         public int CODE { get; set; }
         public string NAME { get; set; }
         public string DESCRIPTION { get; set; }
+        public bool SUPPORTS_HOMING { get; set; }
     
         [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Usage", "CA2227:CollectionPropertiesShouldBeReadOnly")]
         public virtual ICollection<HARDWARE_MOTORS> HARDWARE_MOTORS { get; set; }
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/IDS_PACKS.cs b/Software/Visual_Studio/Tango.DAL.Remote/DB/IDS_PACKS.cs
index 6275098a8..c6f44d5a4 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/IDS_PACKS.cs
+++ b/Software/Visual_Studio/Tango.DAL.Remote/DB/IDS_PACKS.cs
@@ -22,9 +22,10 @@ namespace Tango.DAL.Remote.DB
         public string LIQUID_TYPE_GUID { get; set; }
         public string CARTRIDGE_TYPE_GUID { get; set; }
         public string MID_TANK_TYPE_GUID { get; set; }
+        public string IDS_PACK_FORMULA_GUID { get; set; }
         public string NAME { get; set; }
         public int PACK_INDEX { get; set; }
-        public string IDS_PACK_FORMULA_GUID { get; set; }
+        public bool IS_EMPTY { get; set; }
     
         public virtual CARTRIDGE_TYPES CARTRIDGE_TYPES { get; set; }
         public virtual CONFIGURATION CONFIGURATION { get; set; }
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.Context.cs b/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.Context.cs
index 06a12e5c7..fd204e9d0 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.Context.cs
+++ b/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.Context.cs
@@ -89,7 +89,6 @@ namespace Tango.DAL.Remote.DB
         public virtual DbSet<TECH_DISPENSERS> TECH_DISPENSERS { get; set; }
         public virtual DbSet<TECH_IOS> TECH_IOS { get; set; }
         public virtual DbSet<TECH_MONITORS> TECH_MONITORS { get; set; }
-        public virtual DbSet<TECH_MOTORS> TECH_MOTORS { get; set; }
         public virtual DbSet<TECH_VALVES> TECH_VALVES { get; set; }
         public virtual DbSet<USER> USERS { get; set; }
         public virtual DbSet<USERS_ROLES> USERS_ROLES { get; set; }
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx b/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx
index 4af57cfdd..bcd54d76c 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx
+++ b/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx
@@ -226,18 +226,6 @@
           <Property Name="NAME" Type="nvarchar" MaxLength="50" Nullable="false" />
           <Property Name="NL_PER_PULSE" Type="float" Nullable="false" />
           <Property Name="CAPACITY" Type="float" Nullable="false" />
-          <Property Name="MIN_FREQUENCY" Type="int" Nullable="false" />
-          <Property Name="MAX_FREQUENCY" Type="int" Nullable="false" />
-          <Property Name="MIN_MICRO_STEP" Type="int" Nullable="false" />
-          <Property Name="MAX_MICRO_STEP" Type="int" Nullable="false" />
-          <Property Name="CORRECTION_GAIN" Type="float" Nullable="false" />
-          <Property Name="RATIO_TO_DRYER_SPEED" Type="float" Nullable="false" />
-          <Property Name="KP" Type="float" Nullable="false" />
-          <Property Name="KI" Type="float" Nullable="false" />
-          <Property Name="KD" Type="float" Nullable="false" />
-          <Property Name="CHANGE_SLOPE" Type="float" Nullable="false" />
-          <Property Name="HIGH_LENGTH_MICRO_SECOND" Type="float" Nullable="false" />
-          <Property Name="CONTROL_TIMING" Type="int" Nullable="false" />
         </EntityType>
         <EntityType Name="EMBEDDED_FIRMWARE_VERSIONS">
           <Key>
@@ -366,6 +354,7 @@
           <Property Name="CODE" Type="int" Nullable="false" />
           <Property Name="NAME" Type="varchar" MaxLength="50" Nullable="false" />
           <Property Name="DESCRIPTION" Type="varchar" MaxLength="100" Nullable="false" />
+          <Property Name="SUPPORTS_HOMING" Type="bit" Nullable="false" />
         </EntityType>
         <EntityType Name="HARDWARE_MOTORS">
           <Key>
@@ -387,6 +376,14 @@
           <Property Name="PULLEY_RADIUS" Type="float" Nullable="false" />
           <Property Name="CONFIG_WORD" Type="int" Nullable="false" />
           <Property Name="DIRECTION_THREAD_WIZE" Type="bit" Nullable="false" />
+          <Property Name="KVAL_HOLD" Type="int" Nullable="false" />
+          <Property Name="KVAL_RUN" Type="int" Nullable="false" />
+          <Property Name="KVAL_ACC" Type="int" Nullable="false" />
+          <Property Name="KVAL_DEC" Type="int" Nullable="false" />
+          <Property Name="OVER_CURRENT_THRESHOLD" Type="int" Nullable="false" />
+          <Property Name="STALL_THRESHOLD" Type="int" Nullable="false" />
+          <Property Name="THERMAL_COMPENSATION_FACTOR" Type="int" Nullable="false" />
+          <Property Name="LOW_SPEED_OPTIMIZATION" Type="bit" Nullable="false" />
         </EntityType>
         <EntityType Name="HARDWARE_PID_CONTROL_TYPES">
           <Key>
@@ -490,13 +487,14 @@
           <Property Name="GUID" Type="varchar" MaxLength="36" Nullable="false" />
           <Property Name="LAST_UPDATED" Type="datetime2" Precision="3" Nullable="false" />
           <Property Name="CONFIGURATION_GUID" Type="varchar" MaxLength="36" Nullable="false" />
-          <Property Name="DISPENSER_TYPE_GUID" Type="varchar" MaxLength="36" Nullable="false" />
-          <Property Name="LIQUID_TYPE_GUID" Type="varchar" MaxLength="36" Nullable="false" />
-          <Property Name="CARTRIDGE_TYPE_GUID" Type="varchar" MaxLength="36" Nullable="false" />
-          <Property Name="MID_TANK_TYPE_GUID" Type="varchar" MaxLength="36" Nullable="false" />
+          <Property Name="DISPENSER_TYPE_GUID" Type="varchar" MaxLength="36" />
+          <Property Name="LIQUID_TYPE_GUID" Type="varchar" MaxLength="36" />
+          <Property Name="CARTRIDGE_TYPE_GUID" Type="varchar" MaxLength="36" />
+          <Property Name="MID_TANK_TYPE_GUID" Type="varchar" MaxLength="36" />
+          <Property Name="IDS_PACK_FORMULA_GUID" Type="varchar" MaxLength="36" />
           <Property Name="NAME" Type="nvarchar" MaxLength="50" Nullable="false" />
           <Property Name="PACK_INDEX" Type="int" Nullable="false" />
-          <Property Name="IDS_PACK_FORMULA_GUID" Type="varchar" MaxLength="36" Nullable="false" />
+          <Property Name="IS_EMPTY" Type="bit" Nullable="false" />
         </EntityType>
         <EntityType Name="JOB_RUNS">
           <Key>
@@ -892,18 +890,6 @@
           <Property Name="MULTI_CHANNEL" Type="bit" Nullable="false" />
           <Property Name="CHANNEL_COUNT" Type="int" Nullable="false" />
         </EntityType>
-        <EntityType Name="TECH_MOTORS">
-          <Key>
-            <PropertyRef Name="GUID" />
-          </Key>
-          <Property Name="ID" Type="int" StoreGeneratedPattern="Identity" Nullable="false" />
-          <Property Name="GUID" Type="varchar" MaxLength="36" Nullable="false" />
-          <Property Name="LAST_UPDATED" Type="datetime2" Precision="3" Nullable="false" />
-          <Property Name="CODE" Type="int" Nullable="false" />
-          <Property Name="NAME" Type="varchar" MaxLength="100" Nullable="false" />
-          <Property Name="DESCRIPTION" Type="varchar" MaxLength="100" Nullable="false" />
-          <Property Name="SUPPORTS_HOMING" Type="bit" Nullable="false" />
-        </EntityType>
         <EntityType Name="TECH_VALVES">
           <Key>
             <PropertyRef Name="GUID" />
@@ -1107,7 +1093,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_CONFIGURATIONS_DISPENSERS_LIQUIDS">
-          <End Role="LIQUID_TYPES" Type="Self.LIQUID_TYPES" Multiplicity="1" />
+          <End Role="LIQUID_TYPES" Type="Self.LIQUID_TYPES" Multiplicity="0..1" />
           <End Role="IDS_PACKS" Type="Self.IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="LIQUID_TYPES">
@@ -1327,7 +1313,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_CARTRIDGE_TYPES">
-          <End Role="CARTRIDGE_TYPES" Type="Self.CARTRIDGE_TYPES" Multiplicity="1" />
+          <End Role="CARTRIDGE_TYPES" Type="Self.CARTRIDGE_TYPES" Multiplicity="0..1" />
           <End Role="IDS_PACKS" Type="Self.IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="CARTRIDGE_TYPES">
@@ -1353,7 +1339,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_DISPENSER_TYPES">
-          <End Role="DISPENSER_TYPES" Type="Self.DISPENSER_TYPES" Multiplicity="1" />
+          <End Role="DISPENSER_TYPES" Type="Self.DISPENSER_TYPES" Multiplicity="0..1" />
           <End Role="IDS_PACKS" Type="Self.IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="DISPENSER_TYPES">
@@ -1365,7 +1351,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_IDS_PACK_FORMULAS">
-          <End Role="IDS_PACK_FORMULAS" Type="Self.IDS_PACK_FORMULAS" Multiplicity="1" />
+          <End Role="IDS_PACK_FORMULAS" Type="Self.IDS_PACK_FORMULAS" Multiplicity="0..1" />
           <End Role="IDS_PACKS" Type="Self.IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="IDS_PACK_FORMULAS">
@@ -1377,7 +1363,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_MID_TANK_TYPES">
-          <End Role="MID_TANK_TYPES" Type="Self.MID_TANK_TYPES" Multiplicity="1" />
+          <End Role="MID_TANK_TYPES" Type="Self.MID_TANK_TYPES" Multiplicity="0..1" />
           <End Role="IDS_PACKS" Type="Self.IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="MID_TANK_TYPES">
@@ -1933,7 +1919,6 @@
           <EntitySet Name="TECH_DISPENSERS" EntityType="Self.TECH_DISPENSERS" Schema="dbo" store:Type="Tables" />
           <EntitySet Name="TECH_IOS" EntityType="Self.TECH_IOS" Schema="dbo" store:Type="Tables" />
           <EntitySet Name="TECH_MONITORS" EntityType="Self.TECH_MONITORS" Schema="dbo" store:Type="Tables" />
-          <EntitySet Name="TECH_MOTORS" EntityType="Self.TECH_MOTORS" Schema="dbo" store:Type="Tables" />
           <EntitySet Name="TECH_VALVES" EntityType="Self.TECH_VALVES" Schema="dbo" store:Type="Tables" />
           <EntitySet Name="USERS" EntityType="Self.USERS" Schema="dbo" store:Type="Tables" />
           <EntitySet Name="USERS_ROLES" EntityType="Self.USERS_ROLES" Schema="dbo" store:Type="Tables" />
@@ -2292,7 +2277,6 @@
           <EntitySet Name="TECH_DISPENSERS" EntityType="RemoteModel.TECH_DISPENSERS" />
           <EntitySet Name="TECH_IOS" EntityType="RemoteModel.TECH_IOS" />
           <EntitySet Name="TECH_MONITORS" EntityType="RemoteModel.TECH_MONITORS" />
-          <EntitySet Name="TECH_MOTORS" EntityType="RemoteModel.TECH_MOTORS" />
           <EntitySet Name="TECH_VALVES" EntityType="RemoteModel.TECH_VALVES" />
           <EntitySet Name="USERS" EntityType="RemoteModel.USER" />
           <EntitySet Name="USERS_ROLES" EntityType="RemoteModel.USERS_ROLES" />
@@ -2835,18 +2819,6 @@
           <Property Name="NAME" Type="String" Nullable="false" MaxLength="50" FixedLength="false" Unicode="true" />
           <Property Name="NL_PER_PULSE" Type="Double" Nullable="false" />
           <Property Name="CAPACITY" Type="Double" Nullable="false" />
-          <Property Name="MIN_FREQUENCY" Type="Int32" Nullable="false" />
-          <Property Name="MAX_FREQUENCY" Type="Int32" Nullable="false" />
-          <Property Name="MIN_MICRO_STEP" Type="Int32" Nullable="false" />
-          <Property Name="MAX_MICRO_STEP" Type="Int32" Nullable="false" />
-          <Property Name="CORRECTION_GAIN" Type="Double" Nullable="false" />
-          <Property Name="RATIO_TO_DRYER_SPEED" Type="Double" Nullable="false" />
-          <Property Name="KP" Type="Double" Nullable="false" />
-          <Property Name="KI" Type="Double" Nullable="false" />
-          <Property Name="KD" Type="Double" Nullable="false" />
-          <Property Name="CHANGE_SLOPE" Type="Double" Nullable="false" />
-          <Property Name="HIGH_LENGTH_MICRO_SECOND" Type="Double" Nullable="false" />
-          <Property Name="CONTROL_TIMING" Type="Int32" Nullable="false" />
           <NavigationProperty Name="IDS_PACKS" Relationship="RemoteModel.FK_IDS_PACKS_DISPENSER_TYPES" FromRole="DISPENSER_TYPES" ToRole="IDS_PACKS" />
         </EntityType>
         <EntityType Name="EMBEDDED_FIRMWARE_VERSIONS">
@@ -2992,6 +2964,7 @@
           <Property Name="CODE" Type="Int32" Nullable="false" />
           <Property Name="NAME" Type="String" Nullable="false" MaxLength="50" FixedLength="false" Unicode="false" />
           <Property Name="DESCRIPTION" Type="String" Nullable="false" MaxLength="100" FixedLength="false" Unicode="false" />
+          <Property Name="SUPPORTS_HOMING" Type="Boolean" Nullable="false" />
           <NavigationProperty Name="HARDWARE_MOTORS" Relationship="RemoteModel.FK_HARDWARE_MOTORS_HARDWARE_MOTOR_TYPES" FromRole="HARDWARE_MOTOR_TYPES" ToRole="HARDWARE_MOTORS" />
         </EntityType>
         <EntityType Name="HARDWARE_MOTORS">
@@ -3014,6 +2987,14 @@
           <Property Name="PULLEY_RADIUS" Type="Double" Nullable="false" />
           <Property Name="CONFIG_WORD" Type="Int32" Nullable="false" />
           <Property Name="DIRECTION_THREAD_WIZE" Type="Boolean" Nullable="false" />
+          <Property Name="KVAL_HOLD" Type="Int32" Nullable="false" />
+          <Property Name="KVAL_RUN" Type="Int32" Nullable="false" />
+          <Property Name="KVAL_ACC" Type="Int32" Nullable="false" />
+          <Property Name="KVAL_DEC" Type="Int32" Nullable="false" />
+          <Property Name="OVER_CURRENT_THRESHOLD" Type="Int32" Nullable="false" />
+          <Property Name="STALL_THRESHOLD" Type="Int32" Nullable="false" />
+          <Property Name="THERMAL_COMPENSATION_FACTOR" Type="Int32" Nullable="false" />
+          <Property Name="LOW_SPEED_OPTIMIZATION" Type="Boolean" Nullable="false" />
           <NavigationProperty Name="HARDWARE_MOTOR_TYPES" Relationship="RemoteModel.FK_HARDWARE_MOTORS_HARDWARE_MOTOR_TYPES" FromRole="HARDWARE_MOTORS" ToRole="HARDWARE_MOTOR_TYPES" />
           <NavigationProperty Name="HARDWARE_VERSIONS" Relationship="RemoteModel.FK_HARDWARE_MOTORS_HARDWARE_VERSIONS" FromRole="HARDWARE_MOTORS" ToRole="HARDWARE_VERSIONS" />
         </EntityType>
@@ -3132,13 +3113,14 @@
           <Property Name="GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
           <Property Name="LAST_UPDATED" Type="DateTime" Nullable="false" Precision="3" />
           <Property Name="CONFIGURATION_GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
-          <Property Name="DISPENSER_TYPE_GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
-          <Property Name="LIQUID_TYPE_GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
-          <Property Name="CARTRIDGE_TYPE_GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
-          <Property Name="MID_TANK_TYPE_GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
+          <Property Name="DISPENSER_TYPE_GUID" Type="String" MaxLength="36" FixedLength="false" Unicode="false" />
+          <Property Name="LIQUID_TYPE_GUID" Type="String" MaxLength="36" FixedLength="false" Unicode="false" />
+          <Property Name="CARTRIDGE_TYPE_GUID" Type="String" MaxLength="36" FixedLength="false" Unicode="false" />
+          <Property Name="MID_TANK_TYPE_GUID" Type="String" MaxLength="36" FixedLength="false" Unicode="false" />
+          <Property Name="IDS_PACK_FORMULA_GUID" Type="String" MaxLength="36" FixedLength="false" Unicode="false" />
           <Property Name="NAME" Type="String" Nullable="false" MaxLength="50" FixedLength="false" Unicode="true" />
           <Property Name="PACK_INDEX" Type="Int32" Nullable="false" />
-          <Property Name="IDS_PACK_FORMULA_GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
+          <Property Name="IS_EMPTY" Type="Boolean" Nullable="false" />
           <NavigationProperty Name="CARTRIDGE_TYPES" Relationship="RemoteModel.FK_IDS_PACKS_CARTRIDGE_TYPES" FromRole="IDS_PACKS" ToRole="CARTRIDGE_TYPES" />
           <NavigationProperty Name="CONFIGURATION" Relationship="RemoteModel.FK_IDS_PACKS_CONFIGURATIONS" FromRole="IDS_PACKS" ToRole="CONFIGURATION" />
           <NavigationProperty Name="DISPENSER_TYPES" Relationship="RemoteModel.FK_IDS_PACKS_DISPENSER_TYPES" FromRole="IDS_PACKS" ToRole="DISPENSER_TYPES" />
@@ -3601,18 +3583,6 @@
           <Property Name="MULTI_CHANNEL" Type="Boolean" Nullable="false" />
           <Property Name="CHANNEL_COUNT" Type="Int32" Nullable="false" />
         </EntityType>
-        <EntityType Name="TECH_MOTORS">
-          <Key>
-            <PropertyRef Name="GUID" />
-          </Key>
-          <Property Name="ID" Type="Int32" Nullable="false" annotation:StoreGeneratedPattern="Identity" />
-          <Property Name="GUID" Type="String" Nullable="false" MaxLength="36" FixedLength="false" Unicode="false" />
-          <Property Name="LAST_UPDATED" Type="DateTime" Nullable="false" Precision="3" />
-          <Property Name="CODE" Type="Int32" Nullable="false" />
-          <Property Name="NAME" Type="String" Nullable="false" MaxLength="100" FixedLength="false" Unicode="false" />
-          <Property Name="DESCRIPTION" Type="String" Nullable="false" MaxLength="100" FixedLength="false" Unicode="false" />
-          <Property Name="SUPPORTS_HOMING" Type="Boolean" Nullable="false" />
-        </EntityType>
         <EntityType Name="TECH_VALVES">
           <Key>
             <PropertyRef Name="GUID" />
@@ -3800,7 +3770,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_CARTRIDGE_TYPES">
-          <End Type="RemoteModel.CARTRIDGE_TYPES" Role="CARTRIDGE_TYPES" Multiplicity="1" />
+          <End Type="RemoteModel.CARTRIDGE_TYPES" Role="CARTRIDGE_TYPES" Multiplicity="0..1" />
           <End Type="RemoteModel.IDS_PACKS" Role="IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="CARTRIDGE_TYPES">
@@ -3996,7 +3966,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_DISPENSER_TYPES">
-          <End Type="RemoteModel.DISPENSER_TYPES" Role="DISPENSER_TYPES" Multiplicity="1" />
+          <End Type="RemoteModel.DISPENSER_TYPES" Role="DISPENSER_TYPES" Multiplicity="0..1" />
           <End Type="RemoteModel.IDS_PACKS" Role="IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="DISPENSER_TYPES">
@@ -4204,7 +4174,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_IDS_PACK_FORMULAS">
-          <End Type="RemoteModel.IDS_PACK_FORMULAS" Role="IDS_PACK_FORMULAS" Multiplicity="1" />
+          <End Type="RemoteModel.IDS_PACK_FORMULAS" Role="IDS_PACK_FORMULAS" Multiplicity="0..1" />
           <End Type="RemoteModel.IDS_PACKS" Role="IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="IDS_PACK_FORMULAS">
@@ -4216,7 +4186,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_CONFIGURATIONS_DISPENSERS_LIQUIDS">
-          <End Type="RemoteModel.LIQUID_TYPES" Role="LIQUID_TYPES" Multiplicity="1" />
+          <End Type="RemoteModel.LIQUID_TYPES" Role="LIQUID_TYPES" Multiplicity="0..1" />
           <End Type="RemoteModel.IDS_PACKS" Role="IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="LIQUID_TYPES">
@@ -4228,7 +4198,7 @@
           </ReferentialConstraint>
         </Association>
         <Association Name="FK_IDS_PACKS_MID_TANK_TYPES">
-          <End Type="RemoteModel.MID_TANK_TYPES" Role="MID_TANK_TYPES" Multiplicity="1" />
+          <End Type="RemoteModel.MID_TANK_TYPES" Role="MID_TANK_TYPES" Multiplicity="0..1" />
           <End Type="RemoteModel.IDS_PACKS" Role="IDS_PACKS" Multiplicity="*" />
           <ReferentialConstraint>
             <Principal Role="MID_TANK_TYPES">
@@ -4820,18 +4790,6 @@
           <EntitySetMapping Name="DISPENSER_TYPES">
             <EntityTypeMapping TypeName="RemoteModel.DISPENSER_TYPES">
               <MappingFragment StoreEntitySet="DISPENSER_TYPES">
-                <ScalarProperty Name="CONTROL_TIMING" ColumnName="CONTROL_TIMING" />
-                <ScalarProperty Name="HIGH_LENGTH_MICRO_SECOND" ColumnName="HIGH_LENGTH_MICRO_SECOND" />
-                <ScalarProperty Name="CHANGE_SLOPE" ColumnName="CHANGE_SLOPE" />
-                <ScalarProperty Name="KD" ColumnName="KD" />
-                <ScalarProperty Name="KI" ColumnName="KI" />
-                <ScalarProperty Name="KP" ColumnName="KP" />
-                <ScalarProperty Name="RATIO_TO_DRYER_SPEED" ColumnName="RATIO_TO_DRYER_SPEED" />
-                <ScalarProperty Name="CORRECTION_GAIN" ColumnName="CORRECTION_GAIN" />
-                <ScalarProperty Name="MAX_MICRO_STEP" ColumnName="MAX_MICRO_STEP" />
-                <ScalarProperty Name="MIN_MICRO_STEP" ColumnName="MIN_MICRO_STEP" />
-                <ScalarProperty Name="MAX_FREQUENCY" ColumnName="MAX_FREQUENCY" />
-                <ScalarProperty Name="MIN_FREQUENCY" ColumnName="MIN_FREQUENCY" />
                 <ScalarProperty Name="CAPACITY" ColumnName="CAPACITY" />
                 <ScalarProperty Name="NL_PER_PULSE" ColumnName="NL_PER_PULSE" />
                 <ScalarProperty Name="NAME" ColumnName="NAME" />
@@ -4972,6 +4930,7 @@
           <EntitySetMapping Name="HARDWARE_MOTOR_TYPES">
             <EntityTypeMapping TypeName="RemoteModel.HARDWARE_MOTOR_TYPES">
               <MappingFragment StoreEntitySet="HARDWARE_MOTOR_TYPES">
+                <ScalarProperty Name="SUPPORTS_HOMING" ColumnName="SUPPORTS_HOMING" />
                 <ScalarProperty Name="DESCRIPTION" ColumnName="DESCRIPTION" />
                 <ScalarProperty Name="NAME" ColumnName="NAME" />
                 <ScalarProperty Name="CODE" ColumnName="CODE" />
@@ -4984,6 +4943,14 @@
           <EntitySetMapping Name="HARDWARE_MOTORS">
             <EntityTypeMapping TypeName="RemoteModel.HARDWARE_MOTORS">
               <MappingFragment StoreEntitySet="HARDWARE_MOTORS">
+                <ScalarProperty Name="LOW_SPEED_OPTIMIZATION" ColumnName="LOW_SPEED_OPTIMIZATION" />
+                <ScalarProperty Name="THERMAL_COMPENSATION_FACTOR" ColumnName="THERMAL_COMPENSATION_FACTOR" />
+                <ScalarProperty Name="STALL_THRESHOLD" ColumnName="STALL_THRESHOLD" />
+                <ScalarProperty Name="OVER_CURRENT_THRESHOLD" ColumnName="OVER_CURRENT_THRESHOLD" />
+                <ScalarProperty Name="KVAL_DEC" ColumnName="KVAL_DEC" />
+                <ScalarProperty Name="KVAL_ACC" ColumnName="KVAL_ACC" />
+                <ScalarProperty Name="KVAL_RUN" ColumnName="KVAL_RUN" />
+                <ScalarProperty Name="KVAL_HOLD" ColumnName="KVAL_HOLD" />
                 <ScalarProperty Name="DIRECTION_THREAD_WIZE" ColumnName="DIRECTION_THREAD_WIZE" />
                 <ScalarProperty Name="CONFIG_WORD" ColumnName="CONFIG_WORD" />
                 <ScalarProperty Name="PULLEY_RADIUS" ColumnName="PULLEY_RADIUS" />
@@ -5107,9 +5074,10 @@
           <EntitySetMapping Name="IDS_PACKS">
             <EntityTypeMapping TypeName="RemoteModel.IDS_PACKS">
               <MappingFragment StoreEntitySet="IDS_PACKS">
-                <ScalarProperty Name="IDS_PACK_FORMULA_GUID" ColumnName="IDS_PACK_FORMULA_GUID" />
+                <ScalarProperty Name="IS_EMPTY" ColumnName="IS_EMPTY" />
                 <ScalarProperty Name="PACK_INDEX" ColumnName="PACK_INDEX" />
                 <ScalarProperty Name="NAME" ColumnName="NAME" />
+                <ScalarProperty Name="IDS_PACK_FORMULA_GUID" ColumnName="IDS_PACK_FORMULA_GUID" />
                 <ScalarProperty Name="MID_TANK_TYPE_GUID" ColumnName="MID_TANK_TYPE_GUID" />
                 <ScalarProperty Name="CARTRIDGE_TYPE_GUID" ColumnName="CARTRIDGE_TYPE_GUID" />
                 <ScalarProperty Name="LIQUID_TYPE_GUID" ColumnName="LIQUID_TYPE_GUID" />
@@ -5544,19 +5512,6 @@
               </MappingFragment>
             </EntityTypeMapping>
           </EntitySetMapping>
-          <EntitySetMapping Name="TECH_MOTORS">
-            <EntityTypeMapping TypeName="RemoteModel.TECH_MOTORS">
-              <MappingFragment StoreEntitySet="TECH_MOTORS">
-                <ScalarProperty Name="SUPPORTS_HOMING" ColumnName="SUPPORTS_HOMING" />
-                <ScalarProperty Name="DESCRIPTION" ColumnName="DESCRIPTION" />
-                <ScalarProperty Name="NAME" ColumnName="NAME" />
-                <ScalarProperty Name="CODE" ColumnName="CODE" />
-                <ScalarProperty Name="LAST_UPDATED" ColumnName="LAST_UPDATED" />
-                <ScalarProperty Name="GUID" ColumnName="GUID" />
-                <ScalarProperty Name="ID" ColumnName="ID" />
-              </MappingFragment>
-            </EntityTypeMapping>
-          </EntitySetMapping>
           <EntitySetMapping Name="TECH_VALVES">
             <EntityTypeMapping TypeName="RemoteModel.TECH_VALVES">
               <MappingFragment StoreEntitySet="TECH_VALVES">
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx.diagram b/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx.diagram
index 5e2999f23..4ec7750f2 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx.diagram
+++ b/Software/Visual_Studio/Tango.DAL.Remote/DB/RemoteADO.edmx.diagram
@@ -5,75 +5,74 @@
     <!-- Diagram content (shape and connector positions) -->
     <edmx:Diagrams>
       <Diagram DiagramId="f9ae01d708754bbd997add25a4bacc79" Name="Diagram1">
-        <EntityTypeShape EntityType="RemoteModel.ACTION_TYPES" Width="1.5" PointX="6" PointY="75.75" />
-        <EntityTypeShape EntityType="RemoteModel.ADDRESS" Width="1.5" PointX="1.5" PointY="78.125" />
-        <EntityTypeShape EntityType="RemoteModel.APPLICATION_DISPLAY_PANEL_VERSIONS" Width="1.5" PointX="1.5" PointY="34.75" />
-        <EntityTypeShape EntityType="RemoteModel.APPLICATION_FIRMWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="64.125" />
-        <EntityTypeShape EntityType="RemoteModel.APPLICATION_OS_VERSIONS" Width="1.5" PointX="1.5" PointY="31.875" />
-        <EntityTypeShape EntityType="RemoteModel.APPLICATION_VERSIONS" Width="1.5" PointX="1.5" PointY="58.25" />
-        <EntityTypeShape EntityType="RemoteModel.BRUSH_STOPS" Width="1.5" PointX="12.75" PointY="12.125" />
+        <EntityTypeShape EntityType="RemoteModel.ACTION_TYPES" Width="1.5" PointX="3" PointY="111.5" />
+        <EntityTypeShape EntityType="RemoteModel.ADDRESS" Width="1.5" PointX="1.5" PointY="41" />
+        <EntityTypeShape EntityType="RemoteModel.APPLICATION_DISPLAY_PANEL_VERSIONS" Width="1.5" PointX="1.5" PointY="58.25" />
+        <EntityTypeShape EntityType="RemoteModel.APPLICATION_FIRMWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="81.625" />
+        <EntityTypeShape EntityType="RemoteModel.APPLICATION_OS_VERSIONS" Width="1.5" PointX="1.5" PointY="72.875" />
+        <EntityTypeShape EntityType="RemoteModel.APPLICATION_VERSIONS" Width="1.5" PointX="1.5" PointY="75.75" />
+        <EntityTypeShape EntityType="RemoteModel.BRUSH_STOPS" Width="1.5" PointX="10.75" PointY="6.375" />
         <EntityTypeShape EntityType="RemoteModel.CARTRIDGE_TYPES" Width="1.5" PointX="6" PointY="0.75" />
-        <EntityTypeShape EntityType="RemoteModel.CAT" Width="1.5" PointX="5.25" PointY="15.625" />
-        <EntityTypeShape EntityType="RemoteModel.CCT" Width="1.5" PointX="5.25" PointY="32.875" />
-        <EntityTypeShape EntityType="RemoteModel.COLOR_CATALOGS" Width="1.5" PointX="10.5" PointY="6.5" />
-        <EntityTypeShape EntityType="RemoteModel.COLOR_SPACES" Width="1.5" PointX="8.25" PointY="8.25" />
-        <EntityTypeShape EntityType="RemoteModel.CONFIGURATION" Width="1.5" PointX="0.75" PointY="39.375" />
-        <EntityTypeShape EntityType="RemoteModel.CONTACT" Width="1.5" PointX="1.5" PointY="74.125" />
-        <EntityTypeShape EntityType="RemoteModel.DISPENSER_TYPES" Width="1.5" PointX="6" PointY="62.625" />
-        <EntityTypeShape EntityType="RemoteModel.EMBEDDED_FIRMWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="61.25" />
-        <EntityTypeShape EntityType="RemoteModel.EMBEDDED_SOFTWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="55.375" />
-        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES" Width="1.5" PointX="6" PointY="70.875" />
-        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES_ACTIONS" Width="1.5" PointX="8.25" PointY="71.75" />
-        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES_CATEGORIES" Width="1.5" PointX="3.75" PointY="75" />
-        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES_GROUPS" Width="1.5" PointX="3.75" PointY="71.875" />
-        <EntityTypeShape EntityType="RemoteModel.FIBER_SHAPES" Width="1.5" PointX="0.75" PointY="28.375" />
-        <EntityTypeShape EntityType="RemoteModel.FIBER_SYNTHS" Width="1.5" PointX="0.75" PointY="19.625" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_DANCER_TYPES" Width="1.5" PointX="1.5" PointY="83" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_DANCERS" Width="1.5" PointX="3.75" PointY="51.25" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_MOTOR_TYPES" Width="1.5" PointX="1.5" PointY="87" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_MOTORS" Width="1.5" PointX="3.75" PointY="55.875" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_PID_CONTROL_TYPES" Width="1.5" PointX="4.5" PointY="83" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_PID_CONTROLS" Width="1.5" PointX="6.75" PointY="55.375" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="51.625" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_WINDER_TYPES" Width="1.5" PointX="4.5" PointY="79" />
-        <EntityTypeShape EntityType="RemoteModel.HARDWARE_WINDERS" Width="1.5" PointX="6.75" PointY="51.875" />
-        <EntityTypeShape EntityType="RemoteModel.HTML_PAGES" Width="1.5" PointX="3.75" PointY="68.5" />
-        <EntityTypeShape EntityType="RemoteModel.IDS_PACK_FORMULAS" Width="1.5" PointX="6" PointY="47.25" />
-        <EntityTypeShape EntityType="RemoteModel.IDS_PACKS" Width="1.5" PointX="8.25" PointY="21.625" />
-        <EntityTypeShape EntityType="RemoteModel.JOB_RUNS" Width="1.5" PointX="10.5" PointY="17.625" />
-        <EntityTypeShape EntityType="RemoteModel.JOB" Width="1.5" PointX="8.25" PointY="14" />
-        <EntityTypeShape EntityType="RemoteModel.LINEAR_MASS_DENSITY_UNITS" Width="1.5" PointX="0.75" PointY="8.75" />
-        <EntityTypeShape EntityType="RemoteModel.LIQUID_TYPES" Width="1.5" PointX="3" PointY="8.625" />
-        <EntityTypeShape EntityType="RemoteModel.LIQUID_TYPES_RMLS" Width="1.5" PointX="5.25" PointY="11.875" />
-        <EntityTypeShape EntityType="RemoteModel.MACHINE_STUDIO_VERSIONS" Width="1.5" PointX="8.25" PointY="37.875" />
-        <EntityTypeShape EntityType="RemoteModel.MACHINE_VERSIONS" Width="1.5" PointX="0.75" PointY="47.375" />
-        <EntityTypeShape EntityType="RemoteModel.MACHINE" Width="1.5" PointX="3" PointY="45.625" />
-        <EntityTypeShape EntityType="RemoteModel.MACHINES_CONFIGURATIONS" Width="1.5" PointX="5.25" PointY="43.625" />
-        <EntityTypeShape EntityType="RemoteModel.MACHINES_EVENTS" Width="1.5" PointX="8.25" PointY="33.25" />
-        <EntityTypeShape EntityType="RemoteModel.MEDIA_COLORS" Width="1.5" PointX="0.75" PointY="15.875" />
-        <EntityTypeShape EntityType="RemoteModel.MEDIA_CONDITIONS" Width="1.5" PointX="0.75" PointY="22.5" />
-        <EntityTypeShape EntityType="RemoteModel.MEDIA_MATERIALS" Width="1.5" PointX="0.75" PointY="11.625" />
-        <EntityTypeShape EntityType="RemoteModel.MEDIA_PURPOSES" Width="1.5" PointX="0.75" PointY="25.5" />
-        <EntityTypeShape EntityType="RemoteModel.MID_TANK_TYPES" Width="1.5" PointX="6" PointY="37.625" />
-        <EntityTypeShape EntityType="RemoteModel.ORGANIZATION" Width="1.5" PointX="0.75" PointY="69.375" />
-        <EntityTypeShape EntityType="RemoteModel.PERMISSION" Width="1.5" PointX="9" PointY="41.625" />
-        <EntityTypeShape EntityType="RemoteModel.PROCESS_PARAMETERS_TABLES" Width="1.5" PointX="7.5" PointY="26.875" />
-        <EntityTypeShape EntityType="RemoteModel.PROCESS_PARAMETERS_TABLES_GROUPS" Width="1.5" PointX="5.25" PointY="28.125" />
-        <EntityTypeShape EntityType="RemoteModel.RML" Width="1.5" PointX="3" PointY="13.25" />
-        <EntityTypeShape EntityType="RemoteModel.ROLE" Width="1.5" PointX="9" PointY="2.5" />
-        <EntityTypeShape EntityType="RemoteModel.ROLES_PERMISSIONS" Width="1.5" PointX="11.25" PointY="2.625" />
-        <EntityTypeShape EntityType="RemoteModel.SEGMENT" Width="1.5" PointX="10.5" PointY="14.125" />
-        <EntityTypeShape EntityType="RemoteModel.SPOOL_TYPES" Width="1.5" PointX="6" PointY="7.25" />
-        <EntityTypeShape EntityType="RemoteModel.SYNC_CONFIGURATIONS" Width="1.5" PointX="0.75" PointY="2" />
-        <EntityTypeShape EntityType="RemoteModel.TECH_CONTROLLERS" Width="1.5" PointX="2.75" PointY="2" />
-        <EntityTypeShape EntityType="RemoteModel.TECH_DISPENSERS" Width="1.5" PointX="12.75" PointY="6" />
-        <EntityTypeShape EntityType="RemoteModel.TECH_IOS" Width="1.5" PointX="14.75" PointY="2" />
-        <EntityTypeShape EntityType="RemoteModel.TECH_MONITORS" Width="1.5" PointX="14.75" PointY="7" />
-        <EntityTypeShape EntityType="RemoteModel.TECH_MOTORS" Width="1.5" PointX="14.75" PointY="12" />
-        <EntityTypeShape EntityType="RemoteModel.TECH_VALVES" Width="1.5" PointX="14.75" PointY="16" />
-        <EntityTypeShape EntityType="RemoteModel.USER" Width="1.5" PointX="6" PointY="19.625" />
-        <EntityTypeShape EntityType="RemoteModel.USERS_ROLES" Width="1.5" PointX="11.25" PointY="21.5" />
-        <EntityTypeShape EntityType="RemoteModel.WINDING_METHODS" Width="1.5" PointX="6" PointY="3.75" />
+        <EntityTypeShape EntityType="RemoteModel.CAT" Width="1.5" PointX="8.25" PointY="15.875" />
+        <EntityTypeShape EntityType="RemoteModel.CCT" Width="1.5" PointX="5.25" PointY="33.125" />
+        <EntityTypeShape EntityType="RemoteModel.COLOR_CATALOGS" Width="1.5" PointX="8.5" PointY="37.75" />
+        <EntityTypeShape EntityType="RemoteModel.COLOR_SPACES" Width="1.5" PointX="6.25" PointY="39.5" />
+        <EntityTypeShape EntityType="RemoteModel.CONFIGURATION" Width="1.5" PointX="0.75" PointY="62.75" />
+        <EntityTypeShape EntityType="RemoteModel.CONTACT" Width="1.5" PointX="1.5" PointY="51" />
+        <EntityTypeShape EntityType="RemoteModel.DISPENSER_TYPES" Width="1.5" PointX="6" PointY="43.125" />
+        <EntityTypeShape EntityType="RemoteModel.EMBEDDED_FIRMWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="55.25" />
+        <EntityTypeShape EntityType="RemoteModel.EMBEDDED_SOFTWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="78.625" />
+        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES" Width="1.5" PointX="3" PointY="95.625" />
+        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES_ACTIONS" Width="1.5" PointX="5.25" PointY="96.5" />
+        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES_CATEGORIES" Width="1.5" PointX="0.75" PointY="93.25" />
+        <EntityTypeShape EntityType="RemoteModel.EVENT_TYPES_GROUPS" Width="1.5" PointX="0.75" PointY="99.625" />
+        <EntityTypeShape EntityType="RemoteModel.FIBER_SHAPES" Width="1.5" PointX="0.75" PointY="9" />
+        <EntityTypeShape EntityType="RemoteModel.FIBER_SYNTHS" Width="1.5" PointX="0.75" PointY="11.875" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_DANCER_TYPES" Width="1.5" PointX="4.5" PointY="79.375" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_DANCERS" Width="1.5" PointX="6.75" PointY="68.625" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_MOTOR_TYPES" Width="1.5" PointX="3.5" PointY="89.375" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_MOTORS" Width="1.5" PointX="5.75" PointY="61.625" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_PID_CONTROL_TYPES" Width="1.5" PointX="1.5" PointY="107.375" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_PID_CONTROLS" Width="1.5" PointX="3.75" PointY="72.75" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_VERSIONS" Width="1.5" PointX="1.5" PointY="69.125" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_WINDER_TYPES" Width="1.5" PointX="1.5" PointY="103.375" />
+        <EntityTypeShape EntityType="RemoteModel.HARDWARE_WINDERS" Width="1.5" PointX="3.75" PointY="69.375" />
+        <EntityTypeShape EntityType="RemoteModel.HTML_PAGES" Width="1.5" PointX="0.75" PointY="96.375" />
+        <EntityTypeShape EntityType="RemoteModel.IDS_PACK_FORMULAS" Width="1.5" PointX="6" PointY="46.5" />
+        <EntityTypeShape EntityType="RemoteModel.IDS_PACKS" Width="1.5" PointX="8.25" PointY="31.875" />
+        <EntityTypeShape EntityType="RemoteModel.JOB_RUNS" Width="1.5" PointX="7.5" PointY="26.875" />
+        <EntityTypeShape EntityType="RemoteModel.JOB" Width="1.5" PointX="5.25" PointY="13.25" />
+        <EntityTypeShape EntityType="RemoteModel.LINEAR_MASS_DENSITY_UNITS" Width="1.5" PointX="0.75" PointY="25.75" />
+        <EntityTypeShape EntityType="RemoteModel.LIQUID_TYPES" Width="1.5" PointX="6" PointY="3.875" />
+        <EntityTypeShape EntityType="RemoteModel.LIQUID_TYPES_RMLS" Width="1.5" PointX="8.25" PointY="12.125" />
+        <EntityTypeShape EntityType="RemoteModel.MACHINE_STUDIO_VERSIONS" Width="1.5" PointX="5.25" PointY="82.625" />
+        <EntityTypeShape EntityType="RemoteModel.MACHINE_VERSIONS" Width="1.5" PointX="0.75" PointY="31.625" />
+        <EntityTypeShape EntityType="RemoteModel.MACHINE" Width="1.5" PointX="3" PointY="45.5" />
+        <EntityTypeShape EntityType="RemoteModel.MACHINES_CONFIGURATIONS" Width="1.5" PointX="5.25" PointY="55.625" />
+        <EntityTypeShape EntityType="RemoteModel.MACHINES_EVENTS" Width="1.5" PointX="5.25" PointY="51" />
+        <EntityTypeShape EntityType="RemoteModel.MEDIA_COLORS" Width="1.5" PointX="0.75" PointY="16.125" />
+        <EntityTypeShape EntityType="RemoteModel.MEDIA_CONDITIONS" Width="1.5" PointX="0.75" PointY="28.625" />
+        <EntityTypeShape EntityType="RemoteModel.MEDIA_MATERIALS" Width="1.5" PointX="0.75" PointY="19.875" />
+        <EntityTypeShape EntityType="RemoteModel.MEDIA_PURPOSES" Width="1.5" PointX="0.75" PointY="22.75" />
+        <EntityTypeShape EntityType="RemoteModel.MID_TANK_TYPES" Width="1.5" PointX="6" PointY="73.625" />
+        <EntityTypeShape EntityType="RemoteModel.ORGANIZATION" Width="1.5" PointX="0.75" PointY="37.25" />
+        <EntityTypeShape EntityType="RemoteModel.PERMISSION" Width="1.5" PointX="6" PointY="90.5" />
+        <EntityTypeShape EntityType="RemoteModel.PROCESS_PARAMETERS_TABLES" Width="1.5" PointX="7.5" PointY="19.875" />
+        <EntityTypeShape EntityType="RemoteModel.PROCESS_PARAMETERS_TABLES_GROUPS" Width="1.5" PointX="5.25" PointY="21.125" />
+        <EntityTypeShape EntityType="RemoteModel.RML" Width="1.5" PointX="3" PointY="13.5" />
+        <EntityTypeShape EntityType="RemoteModel.ROLE" Width="1.5" PointX="6" PointY="86.375" />
+        <EntityTypeShape EntityType="RemoteModel.ROLES_PERMISSIONS" Width="1.5" PointX="8.25" PointY="86.5" />
+        <EntityTypeShape EntityType="RemoteModel.SEGMENT" Width="1.5" PointX="7.5" PointY="8.375" />
+        <EntityTypeShape EntityType="RemoteModel.SPOOL_TYPES" Width="1.5" PointX="3" PointY="84.625" />
+        <EntityTypeShape EntityType="RemoteModel.SYNC_CONFIGURATIONS" Width="1.5" PointX="0.75" PointY="2.25" />
+        <EntityTypeShape EntityType="RemoteModel.TECH_CONTROLLERS" Width="1.5" PointX="2.75" PointY="2.25" />
+        <EntityTypeShape EntityType="RemoteModel.TECH_DISPENSERS" Width="1.5" PointX="2.75" PointY="6.25" />
+        <EntityTypeShape EntityType="RemoteModel.TECH_IOS" Width="1.5" PointX="4.75" PointY="8.25" />
+        <EntityTypeShape EntityType="RemoteModel.TECH_MONITORS" Width="1.5" PointX="8.75" PointY="2.25" />
+        <EntityTypeShape EntityType="RemoteModel.TECH_VALVES" Width="1.5" PointX="10.75" PointY="2.25" />
+        <EntityTypeShape EntityType="RemoteModel.USER" Width="1.5" PointX="3" PointY="61.5" />
+        <EntityTypeShape EntityType="RemoteModel.USERS_ROLES" Width="1.5" PointX="8.25" PointY="62.375" />
+        <EntityTypeShape EntityType="RemoteModel.WINDING_METHODS" Width="1.5" PointX="3" PointY="37.5" />
         <AssociationConnector Association="RemoteModel.FK_EVENTS_ACTIONS_ACTIONS" />
         <AssociationConnector Association="RemoteModel.FK_ORGANIZATIONS_ADDRESSES" />
         <AssociationConnector Association="RemoteModel.FK_USERS_ADDRESSES" />
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/DB/TECH_MOTORS.cs b/Software/Visual_Studio/Tango.DAL.Remote/DB/TECH_MOTORS.cs
deleted file mode 100644
index e4b77478d..000000000
--- a/Software/Visual_Studio/Tango.DAL.Remote/DB/TECH_MOTORS.cs
+++ /dev/null
@@ -1,25 +0,0 @@
-//------------------------------------------------------------------------------
-// <auto-generated>
-//     This code was generated from a template.
-//
-//     Manual changes to this file may cause unexpected behavior in your application.
-//     Manual changes to this file will be overwritten if the code is regenerated.
-// </auto-generated>
-//------------------------------------------------------------------------------
-
-namespace Tango.DAL.Remote.DB
-{
-    using System;
-    using System.Collections.Generic;
-    
-    public partial class TECH_MOTORS
-    {
-        public int ID { get; set; }
-        public string GUID { get; set; }
-        public System.DateTime LAST_UPDATED { get; set; }
-        public int CODE { get; set; }
-        public string NAME { get; set; }
-        public string DESCRIPTION { get; set; }
-        public bool SUPPORTS_HOMING { get; set; }
-    }
-}
diff --git a/Software/Visual_Studio/Tango.DAL.Remote/Tango.DAL.Remote.csproj b/Software/Visual_Studio/Tango.DAL.Remote/Tango.DAL.Remote.csproj
index 51d3510ce..cdb6990e9 100644
--- a/Software/Visual_Studio/Tango.DAL.Remote/Tango.DAL.Remote.csproj
+++ b/Software/Visual_Studio/Tango.DAL.Remote/Tango.DAL.Remote.csproj
@@ -272,9 +272,6 @@
     <Compile Include="DB\TECH_MONITORS.cs">
       <DependentUpon>RemoteADO.tt</DependentUpon>
     </Compile>
-    <Compile Include="DB\TECH_MOTORS.cs">
-      <DependentUpon>RemoteADO.tt</DependentUpon>
-    </Compile>
     <Compile Include="DB\TECH_VALVES.cs">
       <DependentUpon>RemoteADO.tt</DependentUpon>
     </Compile>
diff --git a/Software/Visual_Studio/Tango.Integration/Operation/IMachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operation/IMachineOperator.cs
index efe4fe7af..9d1364012 100644
--- a/Software/Visual_Studio/Tango.Integration/Operation/IMachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operation/IMachineOperator.cs
@@ -101,9 +101,10 @@ namespace Tango.Integration.Operation
         /// <summary>
         /// Uploads the specified hardware configuration to the embedded device.
         /// </summary>
-        /// <param name="hardwareConfiguration">The hardware configuration.</param>
+        /// <param name="hardwareVersion">Machine version.</param>
+        /// <param name="configuration">Machine configuration.</param>
         /// <returns></returns>
-        Task<UploadHardwareConfigurationResponse> UploadHardwareConfiguration(HardwareConfiguration hardwareConfiguration);
+        Task<UploadHardwareConfigurationResponse> UploadHardwareConfiguration(HardwareVersion hardwareVersion, Configuration configuration);
 
         /// <summary>
         /// Starts jogging the specified motor.
diff --git a/Software/Visual_Studio/Tango.Integration/Operation/MachineOperator.cs b/Software/Visual_Studio/Tango.Integration/Operation/MachineOperator.cs
index 118bbc38a..64cf2f7dc 100644
--- a/Software/Visual_Studio/Tango.Integration/Operation/MachineOperator.cs
+++ b/Software/Visual_Studio/Tango.Integration/Operation/MachineOperator.cs
@@ -551,10 +551,54 @@ namespace Tango.Integration.Operation
         /// <summary>
         /// Uploads the specified hardware configuration to the embedded device.
         /// </summary>
-        /// <param name="hardwareConfiguration">The hardware configuration.</param>
+        /// <param name="hardwareVersion">Machine version.</param>
+        /// <param name="configuration">Machine configuration.</param>
         /// <returns></returns>
-        public async Task<UploadHardwareConfigurationResponse> UploadHardwareConfiguration(HardwareConfiguration hardwareConfiguration)
+        public async Task<UploadHardwareConfigurationResponse> UploadHardwareConfiguration(HardwareVersion hardwareVersion, Configuration configuration)
         {
+            HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();
+
+            foreach (var dancer in hardwareVersion.HardwareDancers)
+            {
+                PMR.Hardware.HardwareDancer item = new PMR.Hardware.HardwareDancer();
+                dancer.MapPrimitivesTo(item);
+                item.HardwareDancerType = (PMR.Hardware.HardwareDancerType)dancer.HardwareDancerType.Code;
+                hardwareConfiguration.Dancers.Add(item);
+            }
+
+            foreach (var motor in hardwareVersion.HardwareMotors)
+            {
+                PMR.Hardware.HardwareMotor item = new PMR.Hardware.HardwareMotor();
+                motor.MapPrimitivesTo(item);
+                item.HardwareMotorType = (PMR.Hardware.HardwareMotorType)motor.HardwareMotorType.Code;
+                hardwareConfiguration.Motors.Add(item);
+            }
+
+            foreach (var pid in hardwareVersion.HardwarePidControls)
+            {
+                PMR.Hardware.HardwarePidControl item = new PMR.Hardware.HardwarePidControl();
+                pid.MapPrimitivesTo(item);
+                item.HardwarePidControlType = (PMR.Hardware.HardwarePidControlType)pid.HardwarePidControlType.Code;
+                hardwareConfiguration.PidControls.Add(item);
+            }
+
+            foreach (var winder in hardwareVersion.HardwareWinders)
+            {
+                PMR.Hardware.HardwareWinder item = new PMR.Hardware.HardwareWinder();
+                winder.MapPrimitivesTo(item);
+                item.HardwareWinderType = (PMR.Hardware.HardwareWinderType)winder.HardwareWinderType.Code;
+                hardwareConfiguration.Winders.Add(item);
+            }
+
+            foreach (var idsPack in configuration.NoneEmptyIdsPacks.OrderBy(x => x.PackIndex))
+            {
+                PMR.Hardware.HardwareDispenser item = new PMR.Hardware.HardwareDispenser();
+                idsPack.DispenserType.MapPrimitivesTo(item);
+                item.HardwareDispenserType = (PMR.Hardware.HardwareDispenserType)idsPack.DispenserType.Code;
+                item.Index = idsPack.PackIndex;
+                hardwareConfiguration.Dispensers.Add(item);
+            }
+
             UploadHardwareConfigurationRequest request = new UploadHardwareConfigurationRequest();
             request.HardwareConfiguration = hardwareConfiguration;
 
diff --git a/Software/Visual_Studio/Tango.PMR/ExtensionMethods.cs b/Software/Visual_Studio/Tango.PMR/ExtensionMethods.cs
index 3a255480d..6e4e81579 100644
--- a/Software/Visual_Studio/Tango.PMR/ExtensionMethods.cs
+++ b/Software/Visual_Studio/Tango.PMR/ExtensionMethods.cs
@@ -13,14 +13,14 @@ namespace Tango.PMR
     /// <summary>
     /// Contains PMR extension methods.
     /// </summary>
-    public static class ExtensionMethods       
+    public static class ExtensionMethods        
     {
         /// <summary>
         /// Gets the protobuf <see cref="OriginalNameAttribute"/> attribute value from the message type.
         /// </summary>
         /// <param name="value">The value.</param>
         /// <returns></returns>
-        public static String ToOriginalName(this MessageType value)       
+        public static String ToOriginalName(this MessageType value)         
         {
             FieldInfo fi = value.GetType().GetField(value.ToString());
 
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDispenser.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDispenser.cs
index ce7036ca2..9e5920f01 100644
--- a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDispenser.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareDispenser.cs
@@ -23,21 +23,15 @@ namespace Tango.PMR.Hardware {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChdIYXJkd2FyZURpc3BlbnNlci5wcm90bxISVGFuZ28uUE1SLkhhcmR3YXJl",
-            "GhtIYXJkd2FyZURpc3BlbnNlclR5cGUucHJvdG8i/QIKEUhhcmR3YXJlRGlz",
+            "GhtIYXJkd2FyZURpc3BlbnNlclR5cGUucHJvdG8ikgEKEUhhcmR3YXJlRGlz",
             "cGVuc2VyEkgKFUhhcmR3YXJlRGlzcGVuc2VyVHlwZRgBIAEoDjIpLlRhbmdv",
-            "LlBNUi5IYXJkd2FyZS5IYXJkd2FyZURpc3BlbnNlclR5cGUSEgoKTmxQZXJQ",
-            "dWxzZRgCIAEoARIQCghDYXBhY2l0eRgDIAEoARIUCgxNaW5GcmVxdWVuY3kY",
-            "BCABKAUSFAoMTWF4RnJlcXVlbmN5GAUgASgFEhQKDE1pbk1pY3JvU3RlcBgG",
-            "IAEoBRIUCgxNYXhNaWNyb1N0ZXAYByABKAUSFgoOQ29ycmVjdGlvbkdhaW4Y",
-            "CCABKAESGQoRUmF0aW9Ub0RyeWVyU3BlZWQYCSABKAESCgoCS3AYCiABKAES",
-            "CgoCS2kYCyABKAESCgoCS2QYDCABKAESEwoLQ2hhbmdlU2xvcGUYDSABKAES",
-            "HQoVSGlnaExlbmd0aE1pY3JvU2Vjb25kGA4gASgBEhUKDUNvbnRyb2xUaW1p",
-            "bmcYDyABKAVCHgocY29tLnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJv",
-            "dG8z"));
+            "LlBNUi5IYXJkd2FyZS5IYXJkd2FyZURpc3BlbnNlclR5cGUSDQoFSW5kZXgY",
+            "AiABKAUSEgoKTmxQZXJQdWxzZRgDIAEoARIQCghDYXBhY2l0eRgEIAEoAUIe",
+            "Chxjb20udHdpbmUudGFuZ28ucG1yLmhhcmR3YXJlYgZwcm90bzM="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwareDispenserTypeReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareDispenser), global::Tango.PMR.Hardware.HardwareDispenser.Parser, new[]{ "HardwareDispenserType", "NlPerPulse", "Capacity", "MinFrequency", "MaxFrequency", "MinMicroStep", "MaxMicroStep", "CorrectionGain", "RatioToDryerSpeed", "Kp", "Ki", "Kd", "ChangeSlope", "HighLengthMicroSecond", "ControlTiming" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareDispenser), global::Tango.PMR.Hardware.HardwareDispenser.Parser, new[]{ "HardwareDispenserType", "Index", "NlPerPulse", "Capacity" }, null, null, null)
           }));
     }
     #endregion
@@ -69,20 +63,9 @@ namespace Tango.PMR.Hardware {
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public HardwareDispenser(HardwareDispenser other) : this() {
       hardwareDispenserType_ = other.hardwareDispenserType_;
+      index_ = other.index_;
       nlPerPulse_ = other.nlPerPulse_;
       capacity_ = other.capacity_;
-      minFrequency_ = other.minFrequency_;
-      maxFrequency_ = other.maxFrequency_;
-      minMicroStep_ = other.minMicroStep_;
-      maxMicroStep_ = other.maxMicroStep_;
-      correctionGain_ = other.correctionGain_;
-      ratioToDryerSpeed_ = other.ratioToDryerSpeed_;
-      kp_ = other.kp_;
-      ki_ = other.ki_;
-      kd_ = other.kd_;
-      changeSlope_ = other.changeSlope_;
-      highLengthMicroSecond_ = other.highLengthMicroSecond_;
-      controlTiming_ = other.controlTiming_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -101,8 +84,19 @@ namespace Tango.PMR.Hardware {
       }
     }
 
+    /// <summary>Field number for the "Index" field.</summary>
+    public const int IndexFieldNumber = 2;
+    private int index_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int Index {
+      get { return index_; }
+      set {
+        index_ = value;
+      }
+    }
+
     /// <summary>Field number for the "NlPerPulse" field.</summary>
-    public const int NlPerPulseFieldNumber = 2;
+    public const int NlPerPulseFieldNumber = 3;
     private double nlPerPulse_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public double NlPerPulse {
@@ -113,7 +107,7 @@ namespace Tango.PMR.Hardware {
     }
 
     /// <summary>Field number for the "Capacity" field.</summary>
-    public const int CapacityFieldNumber = 3;
+    public const int CapacityFieldNumber = 4;
     private double capacity_;
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public double Capacity {
@@ -123,138 +117,6 @@ namespace Tango.PMR.Hardware {
       }
     }
 
-    /// <summary>Field number for the "MinFrequency" field.</summary>
-    public const int MinFrequencyFieldNumber = 4;
-    private int minFrequency_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int MinFrequency {
-      get { return minFrequency_; }
-      set {
-        minFrequency_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MaxFrequency" field.</summary>
-    public const int MaxFrequencyFieldNumber = 5;
-    private int maxFrequency_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int MaxFrequency {
-      get { return maxFrequency_; }
-      set {
-        maxFrequency_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MinMicroStep" field.</summary>
-    public const int MinMicroStepFieldNumber = 6;
-    private int minMicroStep_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int MinMicroStep {
-      get { return minMicroStep_; }
-      set {
-        minMicroStep_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "MaxMicroStep" field.</summary>
-    public const int MaxMicroStepFieldNumber = 7;
-    private int maxMicroStep_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int MaxMicroStep {
-      get { return maxMicroStep_; }
-      set {
-        maxMicroStep_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "CorrectionGain" field.</summary>
-    public const int CorrectionGainFieldNumber = 8;
-    private double correctionGain_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double CorrectionGain {
-      get { return correctionGain_; }
-      set {
-        correctionGain_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "RatioToDryerSpeed" field.</summary>
-    public const int RatioToDryerSpeedFieldNumber = 9;
-    private double ratioToDryerSpeed_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double RatioToDryerSpeed {
-      get { return ratioToDryerSpeed_; }
-      set {
-        ratioToDryerSpeed_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Kp" field.</summary>
-    public const int KpFieldNumber = 10;
-    private double kp_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Kp {
-      get { return kp_; }
-      set {
-        kp_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Ki" field.</summary>
-    public const int KiFieldNumber = 11;
-    private double ki_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Ki {
-      get { return ki_; }
-      set {
-        ki_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "Kd" field.</summary>
-    public const int KdFieldNumber = 12;
-    private double kd_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double Kd {
-      get { return kd_; }
-      set {
-        kd_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ChangeSlope" field.</summary>
-    public const int ChangeSlopeFieldNumber = 13;
-    private double changeSlope_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double ChangeSlope {
-      get { return changeSlope_; }
-      set {
-        changeSlope_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "HighLengthMicroSecond" field.</summary>
-    public const int HighLengthMicroSecondFieldNumber = 14;
-    private double highLengthMicroSecond_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public double HighLengthMicroSecond {
-      get { return highLengthMicroSecond_; }
-      set {
-        highLengthMicroSecond_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "ControlTiming" field.</summary>
-    public const int ControlTimingFieldNumber = 15;
-    private int controlTiming_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public int ControlTiming {
-      get { return controlTiming_; }
-      set {
-        controlTiming_ = value;
-      }
-    }
-
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as HardwareDispenser);
@@ -269,20 +131,9 @@ namespace Tango.PMR.Hardware {
         return true;
       }
       if (HardwareDispenserType != other.HardwareDispenserType) return false;
+      if (Index != other.Index) return false;
       if (NlPerPulse != other.NlPerPulse) return false;
       if (Capacity != other.Capacity) return false;
-      if (MinFrequency != other.MinFrequency) return false;
-      if (MaxFrequency != other.MaxFrequency) return false;
-      if (MinMicroStep != other.MinMicroStep) return false;
-      if (MaxMicroStep != other.MaxMicroStep) return false;
-      if (CorrectionGain != other.CorrectionGain) return false;
-      if (RatioToDryerSpeed != other.RatioToDryerSpeed) return false;
-      if (Kp != other.Kp) return false;
-      if (Ki != other.Ki) return false;
-      if (Kd != other.Kd) return false;
-      if (ChangeSlope != other.ChangeSlope) return false;
-      if (HighLengthMicroSecond != other.HighLengthMicroSecond) return false;
-      if (ControlTiming != other.ControlTiming) return false;
       return true;
     }
 
@@ -290,20 +141,9 @@ namespace Tango.PMR.Hardware {
     public override int GetHashCode() {
       int hash = 1;
       if (HardwareDispenserType != 0) hash ^= HardwareDispenserType.GetHashCode();
+      if (Index != 0) hash ^= Index.GetHashCode();
       if (NlPerPulse != 0D) hash ^= NlPerPulse.GetHashCode();
       if (Capacity != 0D) hash ^= Capacity.GetHashCode();
-      if (MinFrequency != 0) hash ^= MinFrequency.GetHashCode();
-      if (MaxFrequency != 0) hash ^= MaxFrequency.GetHashCode();
-      if (MinMicroStep != 0) hash ^= MinMicroStep.GetHashCode();
-      if (MaxMicroStep != 0) hash ^= MaxMicroStep.GetHashCode();
-      if (CorrectionGain != 0D) hash ^= CorrectionGain.GetHashCode();
-      if (RatioToDryerSpeed != 0D) hash ^= RatioToDryerSpeed.GetHashCode();
-      if (Kp != 0D) hash ^= Kp.GetHashCode();
-      if (Ki != 0D) hash ^= Ki.GetHashCode();
-      if (Kd != 0D) hash ^= Kd.GetHashCode();
-      if (ChangeSlope != 0D) hash ^= ChangeSlope.GetHashCode();
-      if (HighLengthMicroSecond != 0D) hash ^= HighLengthMicroSecond.GetHashCode();
-      if (ControlTiming != 0) hash ^= ControlTiming.GetHashCode();
       return hash;
     }
 
@@ -318,62 +158,18 @@ namespace Tango.PMR.Hardware {
         output.WriteRawTag(8);
         output.WriteEnum((int) HardwareDispenserType);
       }
+      if (Index != 0) {
+        output.WriteRawTag(16);
+        output.WriteInt32(Index);
+      }
       if (NlPerPulse != 0D) {
-        output.WriteRawTag(17);
+        output.WriteRawTag(25);
         output.WriteDouble(NlPerPulse);
       }
       if (Capacity != 0D) {
-        output.WriteRawTag(25);
+        output.WriteRawTag(33);
         output.WriteDouble(Capacity);
       }
-      if (MinFrequency != 0) {
-        output.WriteRawTag(32);
-        output.WriteInt32(MinFrequency);
-      }
-      if (MaxFrequency != 0) {
-        output.WriteRawTag(40);
-        output.WriteInt32(MaxFrequency);
-      }
-      if (MinMicroStep != 0) {
-        output.WriteRawTag(48);
-        output.WriteInt32(MinMicroStep);
-      }
-      if (MaxMicroStep != 0) {
-        output.WriteRawTag(56);
-        output.WriteInt32(MaxMicroStep);
-      }
-      if (CorrectionGain != 0D) {
-        output.WriteRawTag(65);
-        output.WriteDouble(CorrectionGain);
-      }
-      if (RatioToDryerSpeed != 0D) {
-        output.WriteRawTag(73);
-        output.WriteDouble(RatioToDryerSpeed);
-      }
-      if (Kp != 0D) {
-        output.WriteRawTag(81);
-        output.WriteDouble(Kp);
-      }
-      if (Ki != 0D) {
-        output.WriteRawTag(89);
-        output.WriteDouble(Ki);
-      }
-      if (Kd != 0D) {
-        output.WriteRawTag(97);
-        output.WriteDouble(Kd);
-      }
-      if (ChangeSlope != 0D) {
-        output.WriteRawTag(105);
-        output.WriteDouble(ChangeSlope);
-      }
-      if (HighLengthMicroSecond != 0D) {
-        output.WriteRawTag(113);
-        output.WriteDouble(HighLengthMicroSecond);
-      }
-      if (ControlTiming != 0) {
-        output.WriteRawTag(120);
-        output.WriteInt32(ControlTiming);
-      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -382,48 +178,15 @@ namespace Tango.PMR.Hardware {
       if (HardwareDispenserType != 0) {
         size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) HardwareDispenserType);
       }
+      if (Index != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(Index);
+      }
       if (NlPerPulse != 0D) {
         size += 1 + 8;
       }
       if (Capacity != 0D) {
         size += 1 + 8;
       }
-      if (MinFrequency != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MinFrequency);
-      }
-      if (MaxFrequency != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MaxFrequency);
-      }
-      if (MinMicroStep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MinMicroStep);
-      }
-      if (MaxMicroStep != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(MaxMicroStep);
-      }
-      if (CorrectionGain != 0D) {
-        size += 1 + 8;
-      }
-      if (RatioToDryerSpeed != 0D) {
-        size += 1 + 8;
-      }
-      if (Kp != 0D) {
-        size += 1 + 8;
-      }
-      if (Ki != 0D) {
-        size += 1 + 8;
-      }
-      if (Kd != 0D) {
-        size += 1 + 8;
-      }
-      if (ChangeSlope != 0D) {
-        size += 1 + 8;
-      }
-      if (HighLengthMicroSecond != 0D) {
-        size += 1 + 8;
-      }
-      if (ControlTiming != 0) {
-        size += 1 + pb::CodedOutputStream.ComputeInt32Size(ControlTiming);
-      }
       return size;
     }
 
@@ -435,48 +198,15 @@ namespace Tango.PMR.Hardware {
       if (other.HardwareDispenserType != 0) {
         HardwareDispenserType = other.HardwareDispenserType;
       }
+      if (other.Index != 0) {
+        Index = other.Index;
+      }
       if (other.NlPerPulse != 0D) {
         NlPerPulse = other.NlPerPulse;
       }
       if (other.Capacity != 0D) {
         Capacity = other.Capacity;
       }
-      if (other.MinFrequency != 0) {
-        MinFrequency = other.MinFrequency;
-      }
-      if (other.MaxFrequency != 0) {
-        MaxFrequency = other.MaxFrequency;
-      }
-      if (other.MinMicroStep != 0) {
-        MinMicroStep = other.MinMicroStep;
-      }
-      if (other.MaxMicroStep != 0) {
-        MaxMicroStep = other.MaxMicroStep;
-      }
-      if (other.CorrectionGain != 0D) {
-        CorrectionGain = other.CorrectionGain;
-      }
-      if (other.RatioToDryerSpeed != 0D) {
-        RatioToDryerSpeed = other.RatioToDryerSpeed;
-      }
-      if (other.Kp != 0D) {
-        Kp = other.Kp;
-      }
-      if (other.Ki != 0D) {
-        Ki = other.Ki;
-      }
-      if (other.Kd != 0D) {
-        Kd = other.Kd;
-      }
-      if (other.ChangeSlope != 0D) {
-        ChangeSlope = other.ChangeSlope;
-      }
-      if (other.HighLengthMicroSecond != 0D) {
-        HighLengthMicroSecond = other.HighLengthMicroSecond;
-      }
-      if (other.ControlTiming != 0) {
-        ControlTiming = other.ControlTiming;
-      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -491,60 +221,16 @@ namespace Tango.PMR.Hardware {
             hardwareDispenserType_ = (global::Tango.PMR.Hardware.HardwareDispenserType) input.ReadEnum();
             break;
           }
-          case 17: {
-            NlPerPulse = input.ReadDouble();
+          case 16: {
+            Index = input.ReadInt32();
             break;
           }
           case 25: {
-            Capacity = input.ReadDouble();
-            break;
-          }
-          case 32: {
-            MinFrequency = input.ReadInt32();
-            break;
-          }
-          case 40: {
-            MaxFrequency = input.ReadInt32();
-            break;
-          }
-          case 48: {
-            MinMicroStep = input.ReadInt32();
-            break;
-          }
-          case 56: {
-            MaxMicroStep = input.ReadInt32();
-            break;
-          }
-          case 65: {
-            CorrectionGain = input.ReadDouble();
-            break;
-          }
-          case 73: {
-            RatioToDryerSpeed = input.ReadDouble();
-            break;
-          }
-          case 81: {
-            Kp = input.ReadDouble();
-            break;
-          }
-          case 89: {
-            Ki = input.ReadDouble();
-            break;
-          }
-          case 97: {
-            Kd = input.ReadDouble();
-            break;
-          }
-          case 105: {
-            ChangeSlope = input.ReadDouble();
-            break;
-          }
-          case 113: {
-            HighLengthMicroSecond = input.ReadDouble();
+            NlPerPulse = input.ReadDouble();
             break;
           }
-          case 120: {
-            ControlTiming = input.ReadInt32();
+          case 33: {
+            Capacity = input.ReadDouble();
             break;
           }
         }
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
index 093270524..6f6e2abdd 100644
--- a/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwareMotor.cs
@@ -23,7 +23,7 @@ namespace Tango.PMR.Hardware {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChNIYXJkd2FyZU1vdG9yLnByb3RvEhJUYW5nby5QTVIuSGFyZHdhcmUaF0hh",
-            "cmR3YXJlTW90b3JUeXBlLnByb3RvItACCg1IYXJkd2FyZU1vdG9yEkAKEUhh",
+            "cmR3YXJlTW90b3JUeXBlLnByb3RvIowECg1IYXJkd2FyZU1vdG9yEkAKEUhh",
             "cmR3YXJlTW90b3JUeXBlGAEgASgOMiUuVGFuZ28uUE1SLkhhcmR3YXJlLkhh",
             "cmR3YXJlTW90b3JUeXBlEhQKDE1pbkZyZXF1ZW5jeRgCIAEoBRIUCgxNYXhG",
             "cmVxdWVuY3kYAyABKAUSFAoMU2V0TWljcm9TdGVwGAQgASgFEhEKCU1pY3Jv",
@@ -31,11 +31,16 @@ namespace Tango.PMR.Hardware {
             "Z3RoTWljcm9TZWNvbmQYByABKAESEwoLU3BlZWRNYXN0ZXIYCCABKAgSFQoN",
             "UHVsc2VQZXJSb3VuZBgJIAEoBRIUCgxQdWxsZXlSYWRpdXMYCiABKAESEgoK",
             "Q29uZmlnV29yZBgLIAEoBRIbChNEaXJlY3Rpb25UaHJlYWRXaXplGAwgASgI",
-            "Qh4KHGNvbS50d2luZS50YW5nby5wbXIuaGFyZHdhcmViBnByb3RvMw=="));
+            "EhAKCEt2YWxIb2xkGA0gASgFEg8KB0t2YWxSdW4YDiABKAUSDwoHS3ZhbEFj",
+            "YxgPIAEoBRIPCgdLdmFsRGVjGBAgASgFEhwKFE92ZXJDdXJyZW50VGhyZXNo",
+            "b2xkGBEgASgFEhYKDlN0YWxsVGhyZXNob2xkGBIgASgFEiEKGVRoZXJtYWxD",
+            "b21wZW5zYXRpb25GYWN0b3IYEyABKAUSHAoUTG93U3BlZWRPcHRpbWl6YXRp",
+            "b24YFCABKAhCHgocY29tLnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJv",
+            "dG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { global::Tango.PMR.Hardware.HardwareMotorTypeReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
-            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareMotor), global::Tango.PMR.Hardware.HardwareMotor.Parser, new[]{ "HardwareMotorType", "MinFrequency", "MaxFrequency", "SetMicroStep", "MicroStep", "MaxChangeSlope", "HighLengthMicroSecond", "SpeedMaster", "PulsePerRound", "PulleyRadius", "ConfigWord", "DirectionThreadWize" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::Tango.PMR.Hardware.HardwareMotor), global::Tango.PMR.Hardware.HardwareMotor.Parser, new[]{ "HardwareMotorType", "MinFrequency", "MaxFrequency", "SetMicroStep", "MicroStep", "MaxChangeSlope", "HighLengthMicroSecond", "SpeedMaster", "PulsePerRound", "PulleyRadius", "ConfigWord", "DirectionThreadWize", "KvalHold", "KvalRun", "KvalAcc", "KvalDec", "OverCurrentThreshold", "StallThreshold", "ThermalCompensationFactor", "LowSpeedOptimization" }, null, null, null)
           }));
     }
     #endregion
@@ -78,6 +83,14 @@ namespace Tango.PMR.Hardware {
       pulleyRadius_ = other.pulleyRadius_;
       configWord_ = other.configWord_;
       directionThreadWize_ = other.directionThreadWize_;
+      kvalHold_ = other.kvalHold_;
+      kvalRun_ = other.kvalRun_;
+      kvalAcc_ = other.kvalAcc_;
+      kvalDec_ = other.kvalDec_;
+      overCurrentThreshold_ = other.overCurrentThreshold_;
+      stallThreshold_ = other.stallThreshold_;
+      thermalCompensationFactor_ = other.thermalCompensationFactor_;
+      lowSpeedOptimization_ = other.lowSpeedOptimization_;
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -217,6 +230,94 @@ namespace Tango.PMR.Hardware {
       }
     }
 
+    /// <summary>Field number for the "KvalHold" field.</summary>
+    public const int KvalHoldFieldNumber = 13;
+    private int kvalHold_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int KvalHold {
+      get { return kvalHold_; }
+      set {
+        kvalHold_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "KvalRun" field.</summary>
+    public const int KvalRunFieldNumber = 14;
+    private int kvalRun_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int KvalRun {
+      get { return kvalRun_; }
+      set {
+        kvalRun_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "KvalAcc" field.</summary>
+    public const int KvalAccFieldNumber = 15;
+    private int kvalAcc_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int KvalAcc {
+      get { return kvalAcc_; }
+      set {
+        kvalAcc_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "KvalDec" field.</summary>
+    public const int KvalDecFieldNumber = 16;
+    private int kvalDec_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int KvalDec {
+      get { return kvalDec_; }
+      set {
+        kvalDec_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "OverCurrentThreshold" field.</summary>
+    public const int OverCurrentThresholdFieldNumber = 17;
+    private int overCurrentThreshold_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int OverCurrentThreshold {
+      get { return overCurrentThreshold_; }
+      set {
+        overCurrentThreshold_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "StallThreshold" field.</summary>
+    public const int StallThresholdFieldNumber = 18;
+    private int stallThreshold_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int StallThreshold {
+      get { return stallThreshold_; }
+      set {
+        stallThreshold_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "ThermalCompensationFactor" field.</summary>
+    public const int ThermalCompensationFactorFieldNumber = 19;
+    private int thermalCompensationFactor_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public int ThermalCompensationFactor {
+      get { return thermalCompensationFactor_; }
+      set {
+        thermalCompensationFactor_ = value;
+      }
+    }
+
+    /// <summary>Field number for the "LowSpeedOptimization" field.</summary>
+    public const int LowSpeedOptimizationFieldNumber = 20;
+    private bool lowSpeedOptimization_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public bool LowSpeedOptimization {
+      get { return lowSpeedOptimization_; }
+      set {
+        lowSpeedOptimization_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as HardwareMotor);
@@ -242,6 +343,14 @@ namespace Tango.PMR.Hardware {
       if (PulleyRadius != other.PulleyRadius) return false;
       if (ConfigWord != other.ConfigWord) return false;
       if (DirectionThreadWize != other.DirectionThreadWize) return false;
+      if (KvalHold != other.KvalHold) return false;
+      if (KvalRun != other.KvalRun) return false;
+      if (KvalAcc != other.KvalAcc) return false;
+      if (KvalDec != other.KvalDec) return false;
+      if (OverCurrentThreshold != other.OverCurrentThreshold) return false;
+      if (StallThreshold != other.StallThreshold) return false;
+      if (ThermalCompensationFactor != other.ThermalCompensationFactor) return false;
+      if (LowSpeedOptimization != other.LowSpeedOptimization) return false;
       return true;
     }
 
@@ -260,6 +369,14 @@ namespace Tango.PMR.Hardware {
       if (PulleyRadius != 0D) hash ^= PulleyRadius.GetHashCode();
       if (ConfigWord != 0) hash ^= ConfigWord.GetHashCode();
       if (DirectionThreadWize != false) hash ^= DirectionThreadWize.GetHashCode();
+      if (KvalHold != 0) hash ^= KvalHold.GetHashCode();
+      if (KvalRun != 0) hash ^= KvalRun.GetHashCode();
+      if (KvalAcc != 0) hash ^= KvalAcc.GetHashCode();
+      if (KvalDec != 0) hash ^= KvalDec.GetHashCode();
+      if (OverCurrentThreshold != 0) hash ^= OverCurrentThreshold.GetHashCode();
+      if (StallThreshold != 0) hash ^= StallThreshold.GetHashCode();
+      if (ThermalCompensationFactor != 0) hash ^= ThermalCompensationFactor.GetHashCode();
+      if (LowSpeedOptimization != false) hash ^= LowSpeedOptimization.GetHashCode();
       return hash;
     }
 
@@ -318,6 +435,38 @@ namespace Tango.PMR.Hardware {
         output.WriteRawTag(96);
         output.WriteBool(DirectionThreadWize);
       }
+      if (KvalHold != 0) {
+        output.WriteRawTag(104);
+        output.WriteInt32(KvalHold);
+      }
+      if (KvalRun != 0) {
+        output.WriteRawTag(112);
+        output.WriteInt32(KvalRun);
+      }
+      if (KvalAcc != 0) {
+        output.WriteRawTag(120);
+        output.WriteInt32(KvalAcc);
+      }
+      if (KvalDec != 0) {
+        output.WriteRawTag(128, 1);
+        output.WriteInt32(KvalDec);
+      }
+      if (OverCurrentThreshold != 0) {
+        output.WriteRawTag(136, 1);
+        output.WriteInt32(OverCurrentThreshold);
+      }
+      if (StallThreshold != 0) {
+        output.WriteRawTag(144, 1);
+        output.WriteInt32(StallThreshold);
+      }
+      if (ThermalCompensationFactor != 0) {
+        output.WriteRawTag(152, 1);
+        output.WriteInt32(ThermalCompensationFactor);
+      }
+      if (LowSpeedOptimization != false) {
+        output.WriteRawTag(160, 1);
+        output.WriteBool(LowSpeedOptimization);
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -359,6 +508,30 @@ namespace Tango.PMR.Hardware {
       if (DirectionThreadWize != false) {
         size += 1 + 1;
       }
+      if (KvalHold != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(KvalHold);
+      }
+      if (KvalRun != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(KvalRun);
+      }
+      if (KvalAcc != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeInt32Size(KvalAcc);
+      }
+      if (KvalDec != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(KvalDec);
+      }
+      if (OverCurrentThreshold != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(OverCurrentThreshold);
+      }
+      if (StallThreshold != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(StallThreshold);
+      }
+      if (ThermalCompensationFactor != 0) {
+        size += 2 + pb::CodedOutputStream.ComputeInt32Size(ThermalCompensationFactor);
+      }
+      if (LowSpeedOptimization != false) {
+        size += 2 + 1;
+      }
       return size;
     }
 
@@ -403,6 +576,30 @@ namespace Tango.PMR.Hardware {
       if (other.DirectionThreadWize != false) {
         DirectionThreadWize = other.DirectionThreadWize;
       }
+      if (other.KvalHold != 0) {
+        KvalHold = other.KvalHold;
+      }
+      if (other.KvalRun != 0) {
+        KvalRun = other.KvalRun;
+      }
+      if (other.KvalAcc != 0) {
+        KvalAcc = other.KvalAcc;
+      }
+      if (other.KvalDec != 0) {
+        KvalDec = other.KvalDec;
+      }
+      if (other.OverCurrentThreshold != 0) {
+        OverCurrentThreshold = other.OverCurrentThreshold;
+      }
+      if (other.StallThreshold != 0) {
+        StallThreshold = other.StallThreshold;
+      }
+      if (other.ThermalCompensationFactor != 0) {
+        ThermalCompensationFactor = other.ThermalCompensationFactor;
+      }
+      if (other.LowSpeedOptimization != false) {
+        LowSpeedOptimization = other.LowSpeedOptimization;
+      }
     }
 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
@@ -461,6 +658,38 @@ namespace Tango.PMR.Hardware {
             DirectionThreadWize = input.ReadBool();
             break;
           }
+          case 104: {
+            KvalHold = input.ReadInt32();
+            break;
+          }
+          case 112: {
+            KvalRun = input.ReadInt32();
+            break;
+          }
+          case 120: {
+            KvalAcc = input.ReadInt32();
+            break;
+          }
+          case 128: {
+            KvalDec = input.ReadInt32();
+            break;
+          }
+          case 136: {
+            OverCurrentThreshold = input.ReadInt32();
+            break;
+          }
+          case 144: {
+            StallThreshold = input.ReadInt32();
+            break;
+          }
+          case 152: {
+            ThermalCompensationFactor = input.ReadInt32();
+            break;
+          }
+          case 160: {
+            LowSpeedOptimization = input.ReadBool();
+            break;
+          }
         }
       }
     }
diff --git a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControlType.cs b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControlType.cs
index ec7ae44c1..482ed763a 100644
--- a/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControlType.cs
+++ b/Software/Visual_Studio/Tango.PMR/Hardware/HardwarePidControlType.cs
@@ -23,13 +23,16 @@ namespace Tango.PMR.Hardware {
       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "ChxIYXJkd2FyZVBpZENvbnRyb2xUeXBlLnByb3RvEhJUYW5nby5QTVIuSGFy",
-            "ZHdhcmUqiAIKFkhhcmR3YXJlUGlkQ29udHJvbFR5cGUSFAoQRHJ5ZXJIZWF0",
+            "ZHdhcmUqiAMKFkhhcmR3YXJlUGlkQ29udHJvbFR5cGUSFAoQRHJ5ZXJIZWF0",
             "ZXIxMDAwdxAAEhQKEERyeWVySGVhdGVyMjAwdzEQARIUChBEcnllckhlYXRl",
             "cjIwMHcyEAISEAoMSGVhZEhlYXRlcloxEAMSEAoMSGVhZEhlYXRlcloyEAQS",
             "EAoMSGVhZEhlYXRlclozEAUSEAoMSGVhZEhlYXRlclo0EAYSDwoLTWl4ZXJI",
             "ZWF0ZXIQBxIQCgxXYXN0ZUNvbnRyb2wQCBIOCgpNb3RvckRyeWVyEAkSDwoL",
             "TW90b3JGZWVkZXIQChIPCgtNb3RvclBvb2xlchALEg8KC01vdG9yV2luZGVy",
-            "EAxCHgocY29tLnR3aW5lLnRhbmdvLnBtci5oYXJkd2FyZWIGcHJvdG8z"));
+            "EAwSDgoKRGlzcGVuc2VyMRANEg4KCkRpc3BlbnNlcjIQDhIOCgpEaXNwZW5z",
+            "ZXIzEA8SDgoKRGlzcGVuc2VyNBAQEg4KCkRpc3BlbnNlcjUQERIOCgpEaXNw",
+            "ZW5zZXI2EBISDgoKRGlzcGVuc2VyNxATEg4KCkRpc3BlbnNlcjgQFEIeChxj",
+            "b20udHdpbmUudGFuZ28ucG1yLmhhcmR3YXJlYgZwcm90bzM="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Tango.PMR.Hardware.HardwarePidControlType), }, null));
@@ -91,6 +94,38 @@ namespace Tango.PMR.Hardware {
     ///Winder Motor
     /// </summary>
     [pbr::OriginalName("MotorWinder")] MotorWinder = 12,
+    /// <summary>
+    ///Dispenser 1
+    /// </summary>
+    [pbr::OriginalName("Dispenser1")] Dispenser1 = 13,
+    /// <summary>
+    ///Dispenser 2
+    /// </summary>
+    [pbr::OriginalName("Dispenser2")] Dispenser2 = 14,
+    /// <summary>
+    ///Dispenser 3
+    /// </summary>
+    [pbr::OriginalName("Dispenser3")] Dispenser3 = 15,
+    /// <summary>
+    ///Dispenser 4
+    /// </summary>
+    [pbr::OriginalName("Dispenser4")] Dispenser4 = 16,
+    /// <summary>
+    ///Dispenser 5
+    /// </summary>
+    [pbr::OriginalName("Dispenser5")] Dispenser5 = 17,
+    /// <summary>
+    ///Dispenser 6
+    /// </summary>
+    [pbr::OriginalName("Dispenser6")] Dispenser6 = 18,
+    /// <summary>
+    ///Dispenser 7
+    /// </summary>
+    [pbr::OriginalName("Dispenser7")] Dispenser7 = 19,
+    /// <summary>
+    ///Dispenser 8
+    /// </summary>
+    [pbr::OriginalName("Dispenser8")] Dispenser8 = 20,
   }
 
   #endregion
diff --git a/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Program.cs b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Program.cs
index 0ee99f1fa..2b6f7174b 100644
--- a/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Program.cs
+++ b/Software/Visual_Studio/Utilities/Tango.PMRGenerator.CLI/Program.cs
@@ -186,6 +186,8 @@ namespace Tango.PMRGenerator.CLI
 
             messageFile.Properties.Add(new ProtoProperty("HardwareDispenserType", "HardwareDispenserType"));
 
+            messageFile.Properties.Add(new ProtoProperty("Index", "int32"));
+
             foreach (var prop in typeof(DispenserType).GetProperties(BindingFlags.Instance | BindingFlags.Public | BindingFlags.DeclaredOnly).Where(x => x.PropertyType.IsPrimitive))
             {
                 if (prop.Name != "Name" && prop.Name != "Code")