diff --git a/EEPROM_generator/index.html b/EEPROM_generator/index.html
index f7fa81f..abe93a0 100644
--- a/EEPROM_generator/index.html
+++ b/EEPROM_generator/index.html
@@ -52,12 +52,12 @@
                      <option value="INTEGER8">INTEGER8</option>
                      <option value="INTEGER16">INTEGER16</option>
                      <option value="INTEGER32">INTEGER32</option>
-                     <option value="INTEGER32">INTEGER64</option>
+                     <option value="INTEGER64">INTEGER64</option>
                      <option value="UNSIGNED8">UNSIGNED8</option>
                      <option value="UNSIGNED16">UNSIGNED16</option>
                      <option value="UNSIGNED32">UNSIGNED64</option>
                      <option value="REAL32">REAL32</option>
-                     <option value="REAL32">REAL64</option>
+                     <option value="REAL64">REAL64</option>
                      <option value="VISIBLE_STRING">VISIBLE STRING</option>
                   </select></td>
                </tr>
diff --git a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
index 2397c98..407a034 100755
--- a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
+++ b/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
@@ -23,7 +23,7 @@
             <DataTypes>
               <DataType>
                 <Name>DT1018</Name>
-                <BitSize>144</BitSize>
+                <BitSize>272</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -37,8 +37,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>Vendor ID</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -47,9 +47,9 @@
                 <SubItem>
                   <SubIdx>2</SubIdx>
                   <Name>Product Code</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>48</BitOffs>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>80</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -57,9 +57,9 @@
                 <SubItem>
                   <SubIdx>3</SubIdx>
                   <Name>Revision Number</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>80</BitOffs>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>144</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -67,9 +67,9 @@
                 <SubItem>
                   <SubIdx>4</SubIdx>
                   <Name>Serial Number</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
-                  <BitOffs>112</BitOffs>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>208</BitOffs>
                   <Flags>
                     <Access>ro</Access>
                   </Flags>
@@ -77,7 +77,7 @@
               </DataType>
               <DataType>
                 <Name>DT1600</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -91,8 +91,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>EncPosScale</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -101,7 +101,7 @@
               </DataType>
               <DataType>
                 <Name>DT1601</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -115,8 +115,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>IndexLatchEnable</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -125,7 +125,7 @@
               </DataType>
               <DataType>
                 <Name>DT1602</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -139,8 +139,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>CommandedPosition</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -149,7 +149,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A00</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -163,8 +163,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>EncPos</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -173,7 +173,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A01</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -187,8 +187,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>EncFrequency</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -197,7 +197,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A02</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -211,8 +211,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>DiffT</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -221,7 +221,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A03</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -235,8 +235,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>IndexByte</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -245,7 +245,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A04</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -259,8 +259,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>IndexStatus</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -269,7 +269,7 @@
               </DataType>
               <DataType>
                 <Name>DT1A05</Name>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -283,8 +283,8 @@
                 <SubItem>
                   <SubIdx>1</SubIdx>
                   <Name>ActualPosition</Name>
-                  <Type>UDINT</Type>
-                  <BitSize>32</BitSize>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -438,8 +438,8 @@
                 </SubItem>
               </DataType>
               <DataType>
-                <Name>UDINT</Name>
-                <BitSize>32</BitSize>
+                <Name>ULINT</Name>
+                <BitSize>64</BitSize>
               </DataType>
               <DataType>
                 <Name>STRING(26)</Name>
@@ -461,6 +461,10 @@
                 <Name>REAL</Name>
                 <BitSize>32</BitSize>
               </DataType>
+              <DataType>
+                <Name>UDINT</Name>
+                <BitSize>32</BitSize>
+              </DataType>
               <DataType>
                 <Name>DINT</Name>
                 <BitSize>32</BitSize>
@@ -470,8 +474,8 @@
               <Object>
                 <Index>#x1000</Index>
                 <Name>Device Type</Name>
-                <Type>UDINT</Type>
-                <BitSize>32</BitSize>
+                <Type>ULINT</Type>
+                <BitSize>64</BitSize>
                 <Info>
                   <DefaultValue>5001</DefaultValue>
                 </Info>
@@ -521,7 +525,7 @@
                 <Index>#x1018</Index>
                 <Name>Identity Object</Name>
                 <Type>DT1018</Type>
-                <BitSize>144</BitSize>
+                <BitSize>272</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -562,7 +566,7 @@
                 <Index>#x1600</Index>
                 <Name>EncPosScale</Name>
                 <Type>DT1600</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -585,7 +589,7 @@
                 <Index>#x1601</Index>
                 <Name>IndexLatchEnable</Name>
                 <Type>DT1601</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -608,7 +612,7 @@
                 <Index>#x1602</Index>
                 <Name>StepGenIn1</Name>
                 <Type>DT1602</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -631,7 +635,7 @@
                 <Index>#x1A00</Index>
                 <Name>EncPos</Name>
                 <Type>DT1A00</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -654,7 +658,7 @@
                 <Index>#x1A01</Index>
                 <Name>EncFrequency</Name>
                 <Type>DT1A01</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -677,7 +681,7 @@
                 <Index>#x1A02</Index>
                 <Name>DiffT</Name>
                 <Type>DT1A02</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -700,7 +704,7 @@
                 <Index>#x1A03</Index>
                 <Name>IndexByte</Name>
                 <Type>DT1A03</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -723,7 +727,7 @@
                 <Index>#x1A04</Index>
                 <Name>IndexStatus</Name>
                 <Type>DT1A04</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -744,9 +748,9 @@
               </Object>
               <Object>
                 <Index>#x1A05</Index>
-                <Name>StepgenOut1</Name>
+                <Name>StepGenOut1</Name>
                 <Type>DT1A05</Type>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -961,7 +965,7 @@
               </Object>
               <Object>
                 <Index>#x6005</Index>
-                <Name>StepgenOut1</Name>
+                <Name>StepGenOut1</Name>
                 <Type>DT6005</Type>
                 <BitSize>48</BitSize>
                 <Info>
@@ -1131,7 +1135,7 @@
         </TxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
           <Index>#x1A05</Index>
-          <Name>StepgenOut1</Name>
+          <Name>StepGenOut1</Name>
           <Entry>
             <Index>#x6005</Index>
             <SubIndex>#x1</SubIndex>
diff --git a/Firmware/lib/soes/esi.json b/Firmware/lib/soes/esi.json
index b30c7ad..7e6c7f7 100755
--- a/Firmware/lib/soes/esi.json
+++ b/Firmware/lib/soes/esi.json
@@ -107,7 +107,7 @@
       },
       "6005": {
         "otype": "RECORD",
-        "name": "StepgenOut1",
+        "name": "StepGenOut1",
         "access": "RO",
         "items": [
           {
@@ -116,7 +116,7 @@
           {
             "name": "ActualPosition",
             "dtype": "INTEGER32",
-            "data": "&Obj.StepgenOut1.ActualPosition",
+            "data": "&Obj.StepGenOut1.ActualPosition",
             "value": "0",
             "access": "RO"
           }
diff --git a/Firmware/lib/soes/objectlist.c b/Firmware/lib/soes/objectlist.c
index 45e6fd6..e4db87c 100755
--- a/Firmware/lib/soes/objectlist.c
+++ b/Firmware/lib/soes/objectlist.c
@@ -37,7 +37,7 @@ static const char acName1A03_01[] = "IndexByte";
 static const char acName1A04[] = "IndexStatus";
 static const char acName1A04_00[] = "Max SubIndex";
 static const char acName1A04_01[] = "IndexStatus";
-static const char acName1A05[] = "StepgenOut1";
+static const char acName1A05[] = "StepGenOut1";
 static const char acName1A05_00[] = "Max SubIndex";
 static const char acName1A05_01[] = "ActualPosition";
 static const char acName1C00[] = "Sync Manager Communication Type";
@@ -64,7 +64,7 @@ static const char acName6001[] = "EncFrequency";
 static const char acName6002[] = "DiffT";
 static const char acName6003[] = "IndexByte";
 static const char acName6004[] = "IndexStatus";
-static const char acName6005[] = "StepgenOut1";
+static const char acName6005[] = "StepGenOut1";
 static const char acName6005_00[] = "Max SubIndex";
 static const char acName6005_01[] = "ActualPosition";
 static const char acName7000[] = "EncPosScale";
@@ -75,7 +75,7 @@ static const char acName7002_01[] = "CommandedPosition";
 
 const _objd SDO1000[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
+  {0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
 };
 const _objd SDO1008[] =
 {
@@ -92,55 +92,55 @@ const _objd SDO100A[] =
 const _objd SDO1018[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
-  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12303564, NULL},
-  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
-  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_01, 2730, NULL},
+  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_02, 12303564, NULL},
+  {0x03, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_03, 2, NULL},
+  {0x04, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_04, 1, &Obj.serial},
 };
 const _objd SDO1600[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL},
 };
 const _objd SDO1601[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL},
 };
 const _objd SDO1602[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020120, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020120, NULL},
 };
 const _objd SDO1A00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
 };
 const _objd SDO1A01[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
 };
 const _objd SDO1A02[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
 };
 const _objd SDO1A03[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
 };
 const _objd SDO1A04[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
 };
 const _objd SDO1A05[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050120, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050120, NULL},
 };
 const _objd SDO1C00[] =
 {
@@ -190,7 +190,7 @@ const _objd SDO6004[] =
 const _objd SDO6005[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
-  {0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName6005_01, 0, &Obj.StepgenOut1.ActualPosition},
+  {0x01, DTYPE_INTEGER32, 32, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
 };
 const _objd SDO7000[] =
 {
diff --git a/Firmware/lib/soes/utypes.h b/Firmware/lib/soes/utypes.h
index de80673..9f77c40 100755
--- a/Firmware/lib/soes/utypes.h
+++ b/Firmware/lib/soes/utypes.h
@@ -21,7 +21,7 @@ typedef struct
    struct
    {
       int32_t ActualPosition;
-   } StepgenOut1;
+   } StepGenOut1;
 
    /* Outputs */
 
diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp
index 9ecbc50..fa188a4 100755
--- a/Firmware/src/main.cpp
+++ b/Firmware/src/main.cpp
@@ -86,7 +86,7 @@ uint16_t dc_checker(void);
 static esc_cfg_t config =
     {
         .user_arg = NULL,
-        .use_interrupt = 1,
+        .use_interrupt = 0,
         .watchdog_cnt = 150,
         .set_defaults_hook = NULL,
         .pre_state_change_hook = NULL,
@@ -97,10 +97,13 @@ static esc_cfg_t config =
         .post_object_download_hook = NULL,
         .rxpdo_override = NULL,
         .txpdo_override = NULL,
-        .esc_hw_interrupt_enable = ESC_interrupt_enable,
-        .esc_hw_interrupt_disable = ESC_interrupt_disable,
+        //.esc_hw_interrupt_enable = ESC_interrupt_enable,
+        //.esc_hw_interrupt_disable = ESC_interrupt_disable,
+        .esc_hw_interrupt_enable = NULL,
+        .esc_hw_interrupt_disable = NULL,
         .esc_hw_eep_handler = NULL,
-        .esc_check_dc_handler = dc_checker,
+        // .esc_check_dc_handler = dc_checker,
+        .esc_check_dc_handler = NULL,
 };
 
 void setup(void)
@@ -161,13 +164,13 @@ volatile int32_t requestedPosition;
 volatile uint32_t pulsesToGo = 0;
 volatile byte forwardDirection = 0; // 1 if going forward
 #define STEPPER_DIR PA12
-//#define STEPPER_STEP PA11 // Set in StepperSetup
+// #define STEPPER_STEP PA11 // Set in StepperSetup
 
 void sync0Handler(void)
 {
    // Update the actual position
    actualPosition += pulsesToGo;
-   Obj.StepgenOut1.ActualPosition = actualPosition;
+   Obj.StepGenOut1.ActualPosition = actualPosition;
    // Get new end position
    requestedPosition = Obj.StepGenIn1.CommandedPosition;
    // Get the diff and the direction
@@ -176,7 +179,7 @@ void sync0Handler(void)
    // Set direction pin
    digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed
    // Make the pulses using hardware timer
-   makePulses(sync0CycleTime/1000, pulsesToGo);    
+   makePulses(sync0CycleTime / 1000, pulsesToGo);
 }
 
 void ESC_interrupt_enable(uint32_t mask)