diff --git a/dll/iodllD.dll b/dll/iodllD.dll
index c00ac5b..a9f1304 100644
Binary files a/dll/iodllD.dll and b/dll/iodllD.dll differ
diff --git a/dll/mcctrdllD.dll b/dll/mcctrdllD.dll
index e7f813b..4d859f5 100644
Binary files a/dll/mcctrdllD.dll and b/dll/mcctrdllD.dll differ
diff --git a/iodll/Include/Motor.h b/iodll/Include/Motor.h
index b392907..915334d 100644
--- a/iodll/Include/Motor.h
+++ b/iodll/Include/Motor.h
@@ -196,6 +196,8 @@ public:
     double m_dNegSoftLimit; // negative Software Limit
 
     int m_iCardNo;
+    
+    int m_iSlaveId{}; // for EtherCAT, slave ID
 
     int m_iMotorPosArrayIndex;
 
diff --git a/iodll/Include/MotorBase.h b/iodll/Include/MotorBase.h
index fb248ed..cc8913e 100644
--- a/iodll/Include/MotorBase.h
+++ b/iodll/Include/MotorBase.h
@@ -165,6 +165,12 @@ protected:
         }
     };
 
+    using stAxTranslation = struct _stAxTranslation
+    {
+        double dPulsePerMM{}; // pulse per mm
+        int    iPosDir{ 1 };  // positive direction
+    };
+
 public:
     CMotorBase();
     CMotorBase(const std::string& strMutexName, const CMtrProfile& mtrProfile, double* dpPos, CMotionControllerBase* pBaseController);
@@ -337,8 +343,8 @@ public:
     int SMoveRel(double dDistance, int nPos = -1);
 
     // Motion Path
-    void  RegisterPathMoveMtrProfile(const std::vector<CMtrProfile>& vecMtrProfile);
-    virtual int PathMove(const stMotionPath& motionPath);
+    void         RegisterPathMoveMtrProfile(const std::vector<CMtrProfile>& vecMtrProfile);
+    virtual int  PathMove(const stMotionPath& motionPath);
     virtual bool StopPathMove(const stMotionPath& motionPath);
 
     // return: success = MOTION_END; error = MOTION_ERROR; Force Stop = MOTION_FORCE_STOP
@@ -612,6 +618,9 @@ public:
     // keep track of which motor no
     int m_iMtrNo;
 
+    // keep track of slave id for ECAT slave
+    int m_iSlaveId;
+
     // keep track of no of pos
     int m_iNoOfPos;
 
@@ -794,4 +803,3 @@ private:
 
     int BaseAbsoluteMove(double dPosition, int nPos, int nMode, PROFILE_CURVE curve);
 };
-
diff --git a/iodll/Include/Motor_ADLINK_ECAT.h b/iodll/Include/Motor_ADLINK_ECAT.h
index a4d8e5d..bc9696d 100644
--- a/iodll/Include/Motor_ADLINK_ECAT.h
+++ b/iodll/Include/Motor_ADLINK_ECAT.h
@@ -150,6 +150,8 @@ private:
 
     bool PrepareMotionCurve(PROFILE_CURVE curve);
 
+    void Set4XMOEncoderSource();
+
     enum PROFILE_TYPE
     {
         ACC,
diff --git a/mcctrdll/Include/MotorRS.h b/mcctrdll/Include/MotorRS.h
index 6aebc85..7077d08 100644
--- a/mcctrdll/Include/MotorRS.h
+++ b/mcctrdll/Include/MotorRS.h
@@ -49,6 +49,7 @@ public:
     double      m_Negative_Soft_Limit;
     double      m_Positive_Soft_Limit;
     long        m_CardNo;
+    long        m_SlaveId;
 
 
     // Overrides