diff --git a/README.md b/README.md
index 6ff4697..f76642f 100644
--- a/README.md
+++ b/README.md
@@ -11,6 +11,10 @@ To set up the MachineMotion Python Library on your computer, follow the steps be
 
 - Download the version of the library that you require on [GitHub](https://github.com/VentionCo/mm-python-api/releases)
 
+
+    - Controllers with software v1.2.11 and earlier are compatible with the Python API v1.6.8 and earlier
+    - Controllers with software v1.12.0+ are compatible with the Python API v2.0+
+
 - Install Python on your computer. The MachineMotion library supports both Python 2.7 and Python 3.6.
 
     - If installing on Windows, make sure to add Python.exe to the PATH environment variable as shown in *Figure 2* and *Figure 3*.
diff --git a/__documentation/api/machine_motion_python_api--v1.6.8.md b/__documentation/api/machine_motion_python_api--v1.6.8.md
index 8ee9b2e..c9f721a 100644
--- a/__documentation/api/machine_motion_python_api--v1.6.8.md
+++ b/__documentation/api/machine_motion_python_api--v1.6.8.md
@@ -600,7 +600,7 @@ sys.exit(0)
 ```
 
 ---
-### emitCombinedAbsoluteMove(axes, positions)
+### emitCombinedAxesAbsoluteMove(axes, positions)
 
 > Send an absolute move command to the MachineMotion controller. Moves multiple axis simultaneously.
 
@@ -614,7 +614,7 @@ sys.exit(0)
 > none
 
 #### Reference Example
-> example--emitCombinedAbsoluteMove.py
+> example--emitCombinedAxesAbsoluteMove.py
 
 ```python
 from _MachineMotion_1_6_8 import *
@@ -641,11 +641,11 @@ mm.emitAcceleration(1000)
 print ("Application Message: Acceleration configured \n")
 
 # Homing axis 1
-mm.emitHome(1)
-print ("Application Message: Axis 1 is at home \n")
+mm.emitHomeAll()
+print ("Application Message: Axes at home \n")
 
 # Move the axis 1 to position 100 mm
-mm.emitCombinedAbsoluteMove([1, 2, 3], [100, 200, 100])
+mm.emitCombinedAxesAbsoluteMove([1, 2, 3], [50, 100, 50])
 print ("Application Message: Motion on-going ... \n")
 
 mm.waitForMotionCompletion()
@@ -699,13 +699,13 @@ print ("Application Message: Speed configured \n")
 mm.emitAcceleration(1000)
 print ("Application Message: Acceleration configured \n")
 
-# Homing axis 1
-mm.emitHome(1)
-print ("Application Message: Axis 1 at home \n")
+# Homing all axes
+mm.emitHomeAll()
+print ("Application Message: Axes at home \n")
 
 # Move the axis one to position 100 mm
-mm.emitRelativeMove(1, "positive", 100)
-print ("Application Message: Move on-going ... \n")
+mm.emitCombinedAxisRelativeMove([1, 2, 3], ["positive", "positive", "positive"], [100, 200, 300])
+print ("Application Message: Multi-axis move on-going ... \n")
 
 mm.waitForMotionCompletion()
 print ("Application Message: Motion completed \n")
@@ -716,7 +716,7 @@ sys.exit(0)
 ```
 
 ---
-### emitCombinedAxisRelativeMove(axes, directions, distances)
+### emitCombinedAxesRelativeMove(axes, directions, distances)
 
 > Send a relative move command to the MachineMotion controller. Moves multiple axis simultaneously.
 
@@ -733,7 +733,7 @@ sys.exit(0)
 > none
 
 #### Reference Example
-> example--emitCombinedRelativeMove.py
+> example--emitCombinedAxesRelativeMove.py
 
 ```python
 from _MachineMotion_1_6_8 import *
diff --git a/examples/_MachineMotion_1_6_8.py b/examples/_MachineMotion_1_6_8.py
index 5dce4fd..874517a 100644
--- a/examples/_MachineMotion_1_6_8.py
+++ b/examples/_MachineMotion_1_6_8.py
@@ -532,7 +532,7 @@ def emitAbsoluteMove(self, axis, position):
     #
     def emitCombinedAxesAbsoluteMove(self, axes, positions):
         if (not isinstance(axes, list) or not isinstance(positions, list)):
-            raise TypeError("Axes and Postions must be lists")
+            raise TypeError("All parameters must be lists")
 
         global motion_completed
 
@@ -580,8 +580,8 @@ def emitRelativeMove(self, axis, direction, distance):
     # @status
     #
     def emitCombinedAxisRelativeMove(self, axes, directions, distances):
-        if (not isinstance(axes, list) or not isinstance(directions, list) or isinstance(distances, list)):
-            raise TypeError("Axes and Postions must be lists")
+        if (not isinstance(axes, list) or not isinstance(directions, list) or not isinstance(distances, list)):
+            raise TypeError("All parameters must be lists")
         
         global motion_completed
 
@@ -691,6 +691,38 @@ def configAxis(self, axis, _u_step, _mech_gain):
         else:
             pass
             # print "Argument error, {configAxis(self, axis, u_step, mech_gain)}, {u_step} argument is invalid"
+            
+    #
+    # Function to reverse the positive direction of an axis, also reverse the home and end-of-travel sensor port
+    # @param axis --- Description: Axis on which the setting applies    --- Type: string or number.
+    # @param data --- Description: normal or reverse axis direction     --- Type: dictionary.
+    # @status
+    #    
+    def emitSetAxisDirection(self, axis, direction):
+    
+        # Checking input parameters
+        if (direction != "normal" and direction != "reverse"):
+            raise ValueError('direction parameter must be either "normal" or "reversed"')
+            
+        if (axis != 1 and axis != 2 and axis !=3):
+            raise ValueError('axis must either be 1, 2 or 3')
+            
+        if(axis == 1):
+            if(direction == "normal"):
+                self.myGCode.__emit__("M92 " + self.myGCode.__getTrueAxis__(axis) + str(self.myAxis1_steps_mm))
+            elif (direction == "reverse"):
+                self.myGCode.__emit__("M92 " + self.myGCode.__getTrueAxis__(axis) + "-" + str(self.myAxis1_steps_mm))
+        elif(axis == 2):
+            if(direction == "normal"):
+                self.myGCode.__emit__("M92 " + self.myGCode.__getTrueAxis__(axis) + str(self.myAxis2_steps_mm))
+            elif (direction == "reverse"):
+                self.myGCode.__emit__("M92 " + self.myGCode.__getTrueAxis__(axis) + "-" + str(self.myAxis2_steps_mm))
+        elif(axis == 3):
+            if(direction == "normal"):
+                self.myGCode.__emit__("M92 " + self.myGCode.__getTrueAxis__(axis) + str(self.myAxis3_steps_mm))
+            elif (direction == "reverse"):
+                self.myGCode.__emit__("M92 " + self.myGCode.__getTrueAxis__(axis) + "-" + str(self.myAxis3_steps_mm))
+
     #
     # Function to save/persist data in the MachineMotion Controller (key - data pair)
     # @param key --- Description: key is a string that identifies the data to save for future retrieval. --- Type: string or number.
diff --git a/examples/_MachineMotion_1_6_8.pyc b/examples/_MachineMotion_1_6_8.pyc
new file mode 100644
index 0000000..466d8fd
Binary files /dev/null and b/examples/_MachineMotion_1_6_8.pyc differ
diff --git a/examples/example--emitAbsoluteMove.py b/examples/example--emitAbsoluteMove.py
index 2483993..0d6c5e0 100644
--- a/examples/example--emitAbsoluteMove.py
+++ b/examples/example--emitAbsoluteMove.py
@@ -41,6 +41,18 @@ def debug(data):
 mm.waitForMotionCompletion()
 print ("Application Message: Motion completed \n")
 
+mm.setAxisDirection(1, "reverse")
+print ("Application Message: Axis 1 direction reverse \n")
+
+# Homing axis 1
+mm.emitHome(1)
+print ("Application Message: Axis 1 is at home \n")
+
+# Move the axis 1 to position 100 mm
+mm.emitAbsoluteMove(1, 100)
+print ("Application Message: Motion on-going ... \n")
+
+
 print ("Application Message: Program terminating ... \n")
 time.sleep(1)
 sys.exit(0)
diff --git a/examples/example--emitCombinedAbsoluteMove.py b/examples/example--emitCombinedAxesAbsoluteMove.py
similarity index 90%
rename from examples/example--emitCombinedAbsoluteMove.py
rename to examples/example--emitCombinedAxesAbsoluteMove.py
index e9cc740..15aa72f 100644
--- a/examples/example--emitCombinedAbsoluteMove.py
+++ b/examples/example--emitCombinedAxesAbsoluteMove.py
@@ -4,7 +4,7 @@
 ## Author: Francois Giguere
 ## Version: 1.6.8
 ## Email: info@vention.cc
-## Status: ready to test
+## Status: tested
 ##################################################
 
 from _MachineMotion_1_6_8 import *
@@ -31,11 +31,11 @@ def debug(data):
 print ("Application Message: Acceleration configured \n")
 
 # Homing axis 1
-mm.emitHome(1)
-print ("Application Message: Axis 1 is at home \n")
+mm.emitHomeAll()
+print ("Application Message: Axes at home \n")
 
 # Move the axis 1 to position 100 mm
-mm.emitCombinedAbsoluteMove([1, 2, 3], [100, 200, 100])
+mm.emitCombinedAxesAbsoluteMove([1, 2, 3], [50, 100, 50])
 print ("Application Message: Motion on-going ... \n")
 
 mm.waitForMotionCompletion()
diff --git a/examples/example--emitCombinedRelativeMove.py b/examples/example--emitCombinedAxesRelativeMove.py
similarity index 86%
rename from examples/example--emitCombinedRelativeMove.py
rename to examples/example--emitCombinedAxesRelativeMove.py
index 5613c4e..e0afa8e 100644
--- a/examples/example--emitCombinedRelativeMove.py
+++ b/examples/example--emitCombinedAxesRelativeMove.py
@@ -4,7 +4,7 @@
 ## Author: Francois Giguere
 ## Version: 1.6.8
 ## Email: info@vention.cc
-## Status: ready to test
+## Status: tested
 ##################################################
 
 from _MachineMotion_1_6_8 import *
@@ -30,12 +30,12 @@ def debug(data):
 mm.emitAcceleration(1000)
 print ("Application Message: Acceleration configured \n")
 
-# Homing axis 1
-mm.emitHome(1)
-print ("Application Message: Axis 1 at home \n")
+# Homing all axes
+mm.emitHomeAll()
+print ("Application Message: Axes at home \n")
 
 # Move the axis one to position 100 mm
-mm.emitCombinedRelativeMove([1,2,3], ["positive","positive","positive"], [100, 200, 300])
+mm.emitCombinedAxisRelativeMove([1, 2, 3], ["positive", "positive", "positive"], [100, 200, 300])
 print ("Application Message: Multi-axis move on-going ... \n")
 
 mm.waitForMotionCompletion()
diff --git a/examples/example--emitSetAxisDirection.py b/examples/example--emitSetAxisDirection.py
new file mode 100644
index 0000000..246bed7
--- /dev/null
+++ b/examples/example--emitSetAxisDirection.py
@@ -0,0 +1,63 @@
+##################################################
+## Axis Direction
+##################################################
+## Author: Francois Giguere
+## Version: 1.6.8
+## Email: info@vention.cc
+## Status: tested
+##################################################
+
+from _MachineMotion_1_6_8 import *
+
+# Define a callback to process controller gCode responses if desired. This is mostly used for debugging purposes.
+def debug(data):
+    pass
+
+print ("Application Message: MachineMotion Program Starting \n")
+
+mm = MachineMotion(debug, DEFAULT_IP_ADDRESS.usb_windows)
+print ("Application Message: MachineMotion Controller Connected \n")
+
+# Configure the axis number 1, 8 uSteps and 150 mm / turn for a timing belt
+mm.configAxis(1, MICRO_STEPS.ustep_8, MECH_GAIN.timing_belt_150mm_turn)
+print ("Application Message: MachineMotion Axis 1 Configured \n")
+
+# Configuring the travel speed to 10000 mm / min
+mm.emitSpeed(10000)
+print ("Application Message: Speed configured \n")
+
+# Configuring the travel speed to 1000 mm / second^2
+mm.emitAcceleration(1000)
+print ("Application Message: Acceleration configured \n")
+
+# Homing axis 1
+mm.emitHome(1)
+print ("Application Message: Axis 1 is at home \n")
+
+# Move the axis 1 to position 100 mm
+mm.emitAbsoluteMove(1, 100)
+print ("Application Message: Motion on-going ... \n")
+
+mm.waitForMotionCompletion()
+print ("Application Message: Motion completed \n")
+
+
+mm.emitSetAxisDirection(1, "reverse")
+print ("Application Message: Axis direction set for axis 1 \n")
+
+# Homing axis 1
+mm.emitHome(1)
+print ("Application Message: Axis 1 is at home \n")
+
+# Move the axis 1 to position 100 mm
+mm.emitAbsoluteMove(1, 100)
+print ("Application Message: Motion on-going ... \n")
+
+mm.waitForMotionCompletion()
+print ("Application Message: Motion completed \n")
+
+print ("Application Message: Program terminating ... \n")
+time.sleep(1)
+sys.exit(0)
+
+
diff --git a/examples/example--saveData_getData.py b/examples/example--saveData_getData.py
index 3bb404d..bc02c3b 100644
--- a/examples/example--saveData_getData.py
+++ b/examples/example--saveData_getData.py
@@ -4,7 +4,7 @@
 ## Author: Francois Giguere
 ## Version: 1.6.8
 ## Email: info@vention.cc
-## Status: released
+## Status: tested
 ##################################################
 
 from _MachineMotion_1_6_8 import *
diff --git a/examples/example--setPosition.py b/examples/example--setPosition.py
index af52175..68ff2b7 100644
--- a/examples/example--setPosition.py
+++ b/examples/example--setPosition.py
@@ -4,7 +4,7 @@
 ## Author: Francois Giguere
 ## Version: 1.6.8
 ## Email: info@vention.cc
-## Status: rdy for test
+## Status: tested
 ##################################################
 
 from _MachineMotion_1_6_8 import *
@@ -26,7 +26,7 @@ def debug(data):
 mm.setPosition(1, 100)
 print ("Application Message: Position set to 100 mm on axis 1\n")
 
-mm.moveRelative(1, "negative", 50)
+mm.emitRelativeMove(1, "negative", 50)
 print ("Application Message: Moving in the negative direction ... \n")
 
 mm.waitForMotionCompletion()
diff --git a/release-notes.md b/release-notes.md
index 144ee83..38b48fb 100644
--- a/release-notes.md
+++ b/release-notes.md
@@ -1,17 +1,18 @@
 # Version 1.6.8
 
-Date: September 24<sup>th</sup>, 2019
+- Date:         September 27<sup>th</sup>, 2019
+- Released by:  Francois Giguere
 
 ## Compatibility
 
 ### Interface Changes
-- No Interface changes in this release
 
 #### Obsoleted Interfaces
 - none
 
 #### New Interfaces
 - setPosition
+- setAxisDirection
 - emitCombinedAxisRelativeMove
 - emitCombinedAxesAbsoluteMove