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Hello, your include and link directories are correct. For your reference I've created a small cmake skript to build the DownloadFirmware sample. My version: Folder structure: CMakeLists.txt: cmake_minimum_required(VERSION 3.10) project(DownloadFirmware VERSION 1.0) #set include directories to default EAL install path include_directories("C:/Program Files (x86)/Rexroth/EAL-SDK/02VRS/eal4c/include") #set link directories to default EAL install path link_directories("C:/Program Files (x86)/Rexroth/EAL-SDK/02VRS/eal4c/bin/mono/win32") link_directories("C:/Program Files (x86)/Rexroth/EAL-SDK/02VRS/eal4c/bin") add_executable(DownloadFirmware DownloadFirmware.c) target_link_libraries(DownloadFirmware libEALCWrapper-win32.dll) target_link_libraries(DownloadFirmware mono-2.0-sgen.dll) Hint: To run your program you need to copy libEALCWrapper-win32.dll and mono-2.0-sgen.dll to same folder where your executatble is located. Regards, Christoph   ... View more

Hello Sam, there is no limitation of max. connections on PC side. This means you can connect your 3 axis in parallel when they are reachable at same time. (try i.e. to ping all axes) Because you are using MPx20 firmware version, it is also possible do the communication via single connection to the CCD master device. Therefore use the structure ealConnection.Motion.Axes[1] for slave 1. Regards, Christoph ... View more