diff --git a/src/TcoDrivesBeckhoff/src/XaeTcoDrivesBeckhoff/TcoDrivesBeckhoff/POUs/Prototypes/TcoDriveSimple/MotionTasks/SetForceTask.TcPOU b/src/TcoDrivesBeckhoff/src/XaeTcoDrivesBeckhoff/TcoDrivesBeckhoff/POUs/Prototypes/TcoDriveSimple/MotionTasks/SetForceTask.TcPOU
new file mode 100644
index 000000000..7a43f7951
--- /dev/null
+++ b/src/TcoDrivesBeckhoff/src/XaeTcoDrivesBeckhoff/TcoDrivesBeckhoff/POUs/Prototypes/TcoDriveSimple/MotionTasks/SetForceTask.TcPOU
@@ -0,0 +1,207 @@
+
+
+
+ "}
+ _force_percent : LREAL;
+ {attribute addProperty Name "<#Velocity limit#>"}
+ _velocityLimit : LREAL;
+ {attribute addProperty Name "<#Torque ramp#>"}
+ _torqueRamp : LREAL;
+END_VAR
+VAR
+ {attribute 'hide'}
+ _axisRef : REFERENCE TO TcoAxisRef;
+ {attribute 'hide'}
+ _mcForceControl : Tc2_MC2.MC_TorqueControl;
+ {attribute 'hide'}
+ _forceOptions : Tc2_MC2.ST_TorqueControlOptions;
+ {attribute 'hide'}
+ _message : STRING(125);
+END_VAR
+]]>
+
+ ,
+ Active=>,
+ CommandAborted=>,
+ Error=>,
+ ErrorID=>
+ );
+
+ IF _mcForceControl.CommandAborted THEN
+ THIS^.Abort();
+ END_IF
+
+ DoneWhen(_mcForceControl.InTorque);
+ ThrowWhen(_mcForceControl.Error);
+END_IF
+]]>
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Executes when task is aborted.
+
+
+~*)
+METHOD PROTECTED OnAbort
+]]>
+
+
+
+
+
+
+
+ Executes when task reaches the ```Done``` state .
+
+
+~*)
+METHOD PROTECTED OnDone
+]]>
+
+
+
+
+
+
+
+ Executes when task reaches the ```Error``` state.
+
+ Do not confuse with , that is called cyclically until '''Error''' state is left.
+
+
+
+~*)
+METHOD PROTECTED OnError
+]]>
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Restores this instance to the Ready state. Can be called explicitly or from within one of the restore mechanisms.
+
+ See also
+
+
+
+~*)
+METHOD Restore : ITcoRestorable
+]]>
+
+
+
+
+
+
+
+ Executes until task is in ```Error``` state .
+
+ Do not confuse with , that is called just ones when '''Error''' state is entered.
+
+
+
+~*)
+METHOD PROTECTED WhileError
+]]>
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/TcoDrivesBeckhoff/src/XaeTcoDrivesBeckhoff/TcoDrivesBeckhoff/TcoDrivesBeckhoff.plcproj b/src/TcoDrivesBeckhoff/src/XaeTcoDrivesBeckhoff/TcoDrivesBeckhoff/TcoDrivesBeckhoff.plcproj
index dc03f8732..47c8a770a 100644
--- a/src/TcoDrivesBeckhoff/src/XaeTcoDrivesBeckhoff/TcoDrivesBeckhoff/TcoDrivesBeckhoff.plcproj
+++ b/src/TcoDrivesBeckhoff/src/XaeTcoDrivesBeckhoff/TcoDrivesBeckhoff/TcoDrivesBeckhoff.plcproj
@@ -195,6 +195,9 @@
Code
+
+ Code
+
Code