• The internal device EPICPOS is one tool that resides in the CPU that allows to manage the movement of a mechanical axis with an analog control epicicloidal ramps.
• The main function of the device is to generate a trajectory or “speed profile” that, suitably converted into a proportional voltage signal, commands a driving and then the axis attached to it.
• The speed profile has a epicicloidal trends (trend of progressive soft and progressive) that reduces the stress and the strain of mechanical parts.
• The device also includes a feed-back process on the measurement taken from the transducer This measure appropriately compared is used to generate the feedback. The control voltage for operation is generated by a DAC hardware (Digital to Analogic Converter) present to BUS QMOVE.
• To sync the position detected from the device with the actual axis position, is there a special procedure for movement such “preset search”.
• The feed-back is the PID+FF type (proportional, integral, derivative and feed-forward).

In the configuration file (.CNF), the BUS section must be declared so that you have the hardware resources required for the implementation of the EPICPOS device. There must be at least a bi-directional meter and a 16-bit resolution analog output. The device can also be used with an input and an interrupt line for preset search functions.
In the INTDEVICE section of the .CNF file must be add the following definition:

;---------------------------------
; Internal device declaration
;---------------------------------
INTDEVICE
..
<device_name>  EPICPOS  TCamp  ICont  IntL  IAZero  IOutA

	It is necessary that each definition are present on the same line. In case you do not want to assign a resource, for example IAZero, you must enter in the appropriate field the string X.X.

where:

;---------------------------------
; Internal device declaration
;---------------------------------
INTDEVICE
Axis_X   EPICPOS   2   2.CNT02   3   3.INP01   3.AN01

The EPICPOS device acquires the position of the axis via bi-directional transmitter signals of transducer; these signals are used by an internal counter. The value of this counter not express, genereally, directly the position of the axis in the unit of measure required by your application. The cntratio parameter is used then to express the relationship between the impulses the transducer and the corresponding application units. The permitted values for this parameter are 0,00374 ÷ 4 with five digits of precision. The report must be introduced in the parameter as an integer value, and then multiplied by 100000.
cntratio = (value in um) x 10 ^{decimal digits} / (corresponding transductor pulse) x 100000

If for the selected unit of measure is also provided for the presence of a decimal point, the locations must be represented as an integer value and represent space in units without decimal point. The resolution must be calculated with the same formula and the numerator the greatness without decimal point. The decimal point will be then inserted in the value representing the time viewers (example: as properties in the HMI).

The speeds are always expressed in whole units of measure in the unit of time choice. From this it emerges that the device must know the location of the decimal point of the unit of measure and this is done with the decpt parameter. This parameter can take values 0÷3.

	To activate this device send the INIT command.

• You want to represent the positions in centimeters with a decimal point.
• In the space of 18,2 cm the transducer generates 500 pulses.

As told to calculate the resolution you have to consider the space runs represented in terms of the measuring unit mm. The resolution is:
cntratio = (18.2 x 101 / 500) x 100000 = 36400

The settings must be: Axis:cntratio = 36400 Axis:decpt = 1

To run a placement at 146 cm, must type Axis:setpos = 1460

To set a speed of 10 centimeters per second, must type : Axis:unitvel = 1 Axis:setvel = 10

	Before starting actual placements you must make sure that electrical connections and mechanical appliances have not of malfunctions cause.

For the axis managing, the EPICPOS device using an analog output range ±10 V and 16 bit resolution with sign; with the calibration function this analog output can be command with a costant value in order to test links and functionality.

• Remove the emergency condition with the RESUME command.
• The state st_emrg = 0
• Enable calibration axis status with the CALON command; the st_cal state must take a value 1.
• Now you can set the analog voltage with the vout parameter; the value is expressed in tenths of a volt (-100 ÷ 100 = -10 ÷ 10 V). It is recommended to introduce low values (5, 10, 15 … equal to 0.5, 1, 1,5 V).
• When the axis is moving the frq parameter indicates the frequency in Hz of the transducer phases.
• The posit parameter that shown the position, varies indicating the space covered by axis.
  If setting a positive voltage the count will decrements, It is necessary to invert the phases of the transducer or reverse the direction in driving.
• You can reverse the direction of the count using the CNTREV command.
• If output voltage equal to zero the axis is not stopped, adjust the offset parameter pto correct the tension until movement does not stop. The inserted value (each bit corresponds to approximately 0.3 mV), will be added algebraically to the value of the analogue output; This operation allows to compensate for any drift of electronic component, from the QMOVE output and in the driver input. The value is expressed in bits with sign.
  For an optimal result of calibration this operation must be performed with the system to temperature capacity.
• To disable calibration status send the CALOFF command.
• The state st_cal = 0

The EPICPOS device generate the voltage value of the analogue output on the basis of a ratio between the maximum velocity of the axis and the maximum output voltage. Proportionality is obtained with the maxvel parameter, maximum axis speed representative on the analog voltage (10 V). Obviously the axle must behave symmetric compared to analog voltage zero value, Therefore the speed must be the same on both the positive and negative voltages at maximum.
Before to determining the value of maximum velocity, We must establish the unit of time to use for the representation of the velocity in the device; the unitvel parameter defines the unit of time of speed (Um/min or Um/s).

The theoretical method is a calculation that was performed on the basis of maximum motor speed. Once established the maximum revolutions per minute declared on the motor, We get the maximum velocity is expressed in the unit of measure the unit of time chosen.
Enter the value of maximum velocity calculated in the maxvel parameter.

The practical method is based on the reading of the speed detected by the device in the vel parameter, provide at the drive a known voltage. To provide the voltage to drive the device should be placed in a position of calibration as described in the previous paragraph. If the system permits, supply voltage operation 10 V and read the speed value in the vel parameter. If, on the other hand, is an excerpt of the output voltage (1, 2, … 5 V), calculate the maximum velocity with a proportion.
Enter the maximum speed value found in maxvel parameter.

	Before movement the axis, check the proper operation of emergency equipment and protection.

The procedures described here have allowed us to complete the first phase of setting parameters for the device. Now you can execute the simple movement of the axis.

• Move the axis in a position where we can make a specific area without touching the maximum quota limits.
• Set the current position of the axis to zero, by setting the parameter posit = 0.
• Set up the parameters that define the position of the limit switches software: minpos = 0 and maxpos at the value of the maximum stroke of the axis.
• Set the parameter that defines the time the axis to reach the maximum speed taccdec = 100. This parameter is expressed in hundredths of a second (100 = 1 sec.)
• Set the speed of positioning with the setvel parameter.
• Set the target quota with the setpos parameter.
• Set the parameter feedforward = 1000 (100%)
• If the device is in state of emergency (st_emrg = 1) give the RESUME command.
• Start positioning with the START comand. To stop the movement give the EMRG command.

This first movement was done without the feedback of space. The placement may have been executed with some error introduced by the non-linearity of the components or an imperfection in the maximum velocity calibration. Subsequently enabling space feedback this error goes away.

The placement runs in the preceding paragraph has been made without considering any position errors.
To check the correct position of the axis continuously and automatically, you need to have a feed-back on the position; for this reason introduces the PID+FF control algorithm including proportional, integral, derivative and feed-forward actions; the value of the analog output is given by the summation of feed forward, proportional, derivative and integrative actions.
Without going into the merits of a technical description of the theory of regulation, This section describes a series of actions to adjust the parameters that affect this control.
In order to achieve a satisfactory adjustment is sufficient to use only the feedforward and proportional actions; integral and derivative actions are used only for adjustments under special conditions.

The feed-forward helps make the system more ready on placements, by providing the analog output voltage proportional to the theoretical speed of positioning. In practice it is the component which you performed the placements of the previous chapter.
The contribution of this action can be adjusted with the feedfw parameter; This parameter is expressed as 1/1000 speed theoretical portion; so, to introduce such as 98.5% you must set 985 (thousandths).

This action provides an output proportional to the instantaneous axis position error. The extent of the proportional action is defined by the pgain parameter that defines the sensitivity of the system.
The pgain parameter is introduced in thousandths; the unit value of the gain (1000) provides an analog output to maximum value (10 V) relative to the maximum speed error. For maximum speed error means the space covered by axis - at he maximum speed - for the duration of the sampling time of the device.

Integrates the position error of the system over time set in integt parameter updating the release until the error is not canceled.
More lower the integration time of the error, more faster the recovery system error, but the system can become unstable, tending to swing.

Anticipates the change of the motion of the system tends to eliminate the overshoot of the positioning. The magnitude of change is calculated over time set in derivt parameter.
More higher the time of derivation of error and more faster the transient error recovery system, but if you enter a value that is too high the system becomes unstable, tending to fluctuate.

Searching for presets is a procedure to synchronize the count (posit parameter) with the real position of the axis. Can be execute in 3 different ways according to the prsmode parameter.

• In order to perform a search preset is need a input (acquired through the BUS QMOVE) we define “enabling zero transducer”. In its path, the axis must turn this entry into a particular point.
• The preset search procedure is started with the PRESET command; at the initial stage the count acquired from QMOVE can have any value and can be located anywhere.
• The axis must direct towards the cam allows the upload of preset. Not knowing which way to direct the axis to meet the enable input, search for preset lets you choose with the prsdir parameter two solutions:
  prsdir = 0 0 the axis will always a forward movement
  prsdir = 1 1 the axis will always a back movement
• If during the preset search execution is give again the PRESET command, the direction of motion of the axis is reversed.
• It is to be noted that the presets quota contained in the prspos parameter must always be between the minimum and the maximum quota and that, after you load the preset quota, the axis is automatically positioned to the preset.
• During the preset search the software limits maxpos and minpos are not enable.
• When you set the search speed zero pulse - sprsvel - we must consider that in Mode 0 the input has a hardware filter that delays the acquisition and so influence the precision of the loading. In the 1 mode, the acquisition is execute on interrupt input so the speed is not determinative. We must ensure, however, that the time of zero impulse duration is sufficient to be acquired from the card. In order to know the acquisition time of the entrance and the minimum time of zero pulse signal refer to the technical documentation of the used cards.

Once you start search presets with the PRESET command, the axis towards the position where the zero pulse enable input transducer with speed defined by prsvel. The st_prson state you turn to report the current preset. When, in its rush, the active axis this input, reverses direction and starts with speed sprsvel.
At this point the behavior depends on the manner of loading selected (Mode 0 or Mode 1).

	This procedure involves the movement of the axis and the use of the zero pulse enable input transducer.

To the deactivation of the zero-pulse enable trasducer input, the preset quota is loaded on the counting (parameter posit=prspos). Next, you disable the st_prson status and active the st_prsok state to signal the end of search. This State remains active until the starting of a new presets procedure; when the system is powered this State is always zero. See picture 1.

Picture 1: preset loading using the only enabling cam.

	This procedure involves the movement of axis and using the zero pulse inputs and enabling zero-pulse transducer.

To the deactivation of the zero-pulse enable transducer input, enables reading of the first zero-pulse provided by the transducer and, on this signal, it loads the preset quota in counting (parameter posit = prspos). To To allow the load of the preset quota with “Mode 1”, the card which is attached to the zero-pulse translator must transmit this signal on one of the 8 hardware interrupt lines. Moreover, the device must have been defined to use the same hardware interrupt line (See definition in the file .CNF).
Subsequently, the axis place at the preset quota, it disable the st_prson status and active the st_prsok state to signal the end of search; this State remains active until the start of a new process of presets. At the power on of the system st_prsok is always to zero. See picture 2.

Picture 2: loading preset using the enable cam and zero-pulse transducer.

	This procedure does NOT provide for the handling of the axis and the use of the zero-pulse transducer enable input.

With this procedure, the preset search does not execute any positioning. The preset quota load command is supply from the activation of the enable input zero encoder and the st_prsok state is set to one.
If the input is a continuous load remains activated while, if at power up the input is already active, the first upload is executed only after its deactivation and activation.

In some applications you are prompted to place a large number of axes by moving a single axis at a time. The design choice falls on installing just one drive that depending on the axis to be placed electrically connects the motor interested in positioning; the transducer is always bound to its axis.
The EANPOS device allows you to control access to the DAC device using the REGON and REGOFF commands. In this way through the QCL application defines a set of device many axes to be placed; in the definition, all devices use the same DAC resource (IOutA).
Normally all devices must be in the st_regoff = 1 state so you will not have access to the DAC device. Before you start positioning, with the REGON command, the device is brought to the st_regoff = 0 state. Runs the placement and completion,the device is returned in the state of st_regoff = 1 with the REGOFF command. For no reason two devices simultaneously must be found in the st_regoff = 0 state. When the device is placed in the position of regoff, the analog output remains fixed at the last voltage value called before the REGOFF command.

	Changing the quota is accepted only if the new position is reached with management in use and if the axis is not already when slowing down to reach the quota previously set.

In some applications you are prompted to define the target quota during placement, according to external events to the device. This means you can also write to the setpos parameter with placements occurring.

When positioning you can also change the value of the posit count. This function is usually used when a device must, under special conditions, continue a speed profile for a very long time, that exceeds the time axis takes to reach the limit quota (maxpos or minpos).

When positioning it is possible to vary the speed of the axis without affecting the location to get to. This can lead to an increase or a decrease in velocity, even more points with the same placement. This is accomplished with new writing in the setvel parameter.

When positioning can be varied even acceleration/deceleration times. For example, the device can start a placement with a very short ramp and, reached the speed set, the tacc parameter is changed and executed a change of speed with a very long ramp.
For special applications the ramp time can be varied even during a change of speed, in this case the new time is put into execution immediately.

	The command can be sent only if the axis is stopped, condition of st_still = 1.

The device always shows the absolute position of the axis; to execute incremental placements it is necessary to have a tool to subtract or add some value to the count (posit) without introducing errors. The change can also count with a direct writing to the new value in the posit parameter.
Wanting to steal 100 units of measure you can count:
Axis:posit = Axis:posit - 100

	The changing of the value of resolution (cntratio) or write to the posit variable, causes the reset of the remnants of the conversion.

This operation introduces an error because it imposes the location “posit = -100”, when the axis could have an intermediate position between a unit of measurement and subsequent (example 100.3). This fraction (0.3) is lost and the repetition of these steps will the accumulation of a considerable error.
The DELCNT command, count sum an amount equal to the delta parameter without losing the fraction part of the position:
Axis:delta = -100
DELCNT Axis
The DELCNT command may be sent only with stationary axis (st_still=1)

Reading the position of the axis is of 2 units and is located at point A. You want to add to the posit count three units of measure.
With the instructions:
Axis:posit = Axis:posit + 2
the axis takes the new position B.
With the instructions:
Axis:delta = 2
DELCNT Axis
C position is reached.

Note that with the first instructions the axis took a delta less than 3 units and then introduced an error.
If you need to send DELCNT commands in succession, It is convenient to calculate the size to be summed and send once the command; otherwise beware not to send subsequent commands without a read statement on device parameter.

Axis:delta = 3
DELCNT Axis
WAIT Axis:st_init
Axis:delta = 40
DELCNT Axis

The name of the parameter, state or command is shown on the left of the table.

R
Indicates whether its parameter or state is retentive (upon initialization of the device maintains the previously defined), or the state assumes upon initialization of the device.
If the device does not need to initialize the field “R” indicates the value that the parameter or state accept at the power up of the card.
R = Retentive
0 = Upon initialization of the device the value is forced to zero.
1 = Upon initialization of the device the value is forced to one.
- = Upon initialization of the device is presented significant value.

D
Indicates the size of the parameter.
F = Flag
B = Byte
W = Word
L = Long
S = Single Float

Are describes all the conditions necessary for the parameter is considered correct or because the command is accepted.
In some cases, limit values are specified for the acceptance of the parameter: If any values outside the limits set, the data is still accepted; therefore appropriate controls of the application must be provided to ensure the proper functioning.
To execute a command, all the conditions must be met; otherwise the command does not execute.

A
Indicates the access mode.
R = Read.
W = Write.
RW = Read / Write.

The commands were ranked by decreasing priority. For example, in the case of contemporary INIT and EMRG commands, is acquired first the INIT command.

• The setvel parameter can be written only if the axis is in constant speed
• The rampm, tacc, tdec and taccdec parameters can be written only if the axis is at constant speed; otherwise, the new value will be processed only when building the next ramp whose time is changed.

;*************************************************************************************
; Module Name: Ex_Epic.CNF                    Progject: Ex_EPICPOS
; Autor: QEM srl                              Date: 01/05/99
; System: QMove1 / QCL3                       Library: 1LIB3B04
; Functionality: Manage EPICPOS example       Release: 0
;------------------------------------- Note ------------------------------------------
; [1] - Sample application using device EPICPOS
;*************************************************************************************
 
;-------------------------------------------------------------------------------------
; Constants definition
;-------------------------------------------------------------------------------------
CONST
 
;-------------------------------------------------------------------------------------
; Variable Definition SYSTEM
;-------------------------------------------------------------------------------------
SYSTEM
slQuotaPos    L                               ;Variable for placement quota
slVelAsse     L                               ;Variable for axis speed
 
;-------------------------------------------------------------------------------------
; Variable Definition GLOBAL
;-------------------------------------------------------------------------------------
GLOBAL
gfMovMan      F                               ;Flag signaling ongoing
                                              ;manual movements
gfMovAuto     F                               ;Flag signaling ongoing
                                              ;automatic movements
 
;-------------------------------------------------------------------------------------
; Variable Definition TIMER
;-------------------------------------------------------------------------------------
TIMER
 
;-------------------------------------------------------------------------------------
; DATAGROUP Definition
;-------------------------------------------------------------------------------------
;DATAGROUP
 
;-------------------------------------------------------------------------------------
;Bus Configuration
;-------------------------------------------------------------------------------------
BUS
      1   1CPUB      02
      2   1MIXA      00
      3   .
      4   .
 
;-------------------------------------------------------------------------------------
; Variable Definition INPUT
;-------------------------------------------------------------------------------------
INPUT
ifAvMan       F   2.INP01                     ;Forward manual input
ifInMan       F   2.INP02                     ;Backward manual input
ifStart       F   2.INP03                     ;START axis input
ifStop        F   2.INP04                     ;STOP axis input
 
;-------------------------------------------------------------------------------------
; Variable Definition OUTPUT
;-------------------------------------------------------------------------------------
OUTPUT
ofToll        F   2.OUT01                     ;output axis in tolerance
ofAxeFermo    F   2.OUT02                     ;output axis in stopped
 
;-------------------------------------------------------------------------------------
; Internal device declaration
;-------------------------------------------------------------------------------------
INTDEVICE
;Name   Type     TCamp    Counter    Inter    AbilZero   OutAnal
Axis    EPICPOS  0004     2.CNT01     1       2.INP01    2.AN01
 
END

;-------------------------------------------------------------------------------------
; File Name  : TASK_00.MOD
; Project    : EX_EPICPOS
; Description: Positioning Management
;-------------------------------------------------------------------------------------
 
;-------------------------------------------------------------------------------------
; Initialization work Axis
;-------------------------------------------------------------------------------------
 
Axis:cntratio = 100000                       ;Encoder resolution = space in 1 round
                                             ;encoder(Um) / pulse for 1 round encoder
Axis:maxvel = 100000                         ;Maximum speed = Axis speed with
                                             ;analog output to 10V (CALON / vout=100)
Axis:maxpos = 999999                         ;Maximum quota
Axis:minpos = -999999                        ;Minimum quota
Axis:maxfollerr = 10000                      ;Following error
Axis:unitvel= 0                              ;Unit time speed
Axis:decpt = 0                               ;Decimal digits
Axis:rampmode = 0                            ;Ramps type used
Axis:taccdec = 100                           ;Acceleration and deceleration time
Axis:tacc = 0                                ;Acceleration time (not used)
Axis:tdec = 0                                ;Deceleration time (not used)
Axis:tinv = 0                                ;Inversion time Axis
Axis:toll = 5                                ;Tolerance
Axis:toldly = 10                             ;Delay time reporting
                                             ;tolerance
Axis:rtype = 1                               ;Reduction type profile
Axis:stopt = 1                               ;Type of stop
Axis:prsmode = 0                             ;Type of preset search
Axis:prspos = 0                              ;Preset quota
Axis:prsdir = 0                              ;Preset search direction
Axis:prsvel = (20 * Axis:maxvel)/100         ;Preset speed (20% of the maximum speed)
Axis:sprsvel = (10 * Axis:maxvel)/100        ;Search speed zero pulse
                                             ;(10% of the maximum speed)
Axis:offset = 0                              ;Offset voltage
Axis:pgain = 10                              ;Proportional gain
Axis:feedfw = 1000                           ;Feedforward
Axis:integt = 0                              ;Integral time
Axis:derivt = 0                              ;Derivative time
INIT Axis                                    ;Initializes the device
WAIT Axis:st_init                            ;Wait until the device is initialized
CNTUNLOCK Axis                               ;Unlock count
WAIT NOT Axis:st_cntlock                     ;Wait until the count is unlocked
CNTDIR Axis                                  ;Sets the direction of the count
WAIT NOT Axis:st_cntrev                      ;Wait until it has the sense of
                                             ;count
REGON Axis                                   ;Enable the adjutment
WAIT NOT Axis:st_regoff                      ;Wait for enabling adjustment
RESUME Axis                                  ;Remove the axis from the emergency state
WAIT NOT Axis:st_emrg                        ;Wait for theaxis is not in emergency
LOOPON Axis                                  ;Hook the loop of axis reaction
WAIT Axis:st_loopon                          ;Wait that is hooked on loop
                                             ;axis reaction
IF (slVelAxis EQ 0)                          ;In case the set of speed
                                             ;the axle is zero
  slVelAxis = 50                             ;Sets a positioning speed
ENDIF
IF (slQuotaPos EQ 0)                         ;In the event that the placement quota
                                             ;of the axis is zero
  slQuotaPos = 2000                          ;Sets a quota of positioning
ENDIF
 
;-------------------------------------------------------------------------------------
; Positioning operations
; --------------------------------- variables used -----------------------------------
; slVelAxis: Adjustable variable that represents the speed of the axis
; (expressed in % of the maximum speed)
; slQuotaPos: Adjustable variable that represents the quota of axis positioning
; ----------------------------------- flag sed ---------------------------------------
; gfMovMan: Manual operation in progress
; gfMovAuto: Automatic movement in progress
;-------------------------------------------------------------------------------------
MAIN:
 
;-------------------------------------------------------------------------------------
; Managing outputs
;-------------------------------------------------------------------------------------
ofToll = Axis:st_toll                         ;Forced out of tolerance as the
                                              ;tolerance state
ofAxisStopped = Axis:st_still                 ;Set the axis output stopped as the state of
Axis stopped
 
;-------------------------------------------------------------------------------------
; Managing automatic movements
;-------------------------------------------------------------------------------------
IF ifStart                                    ;Waits for the START input
  IF NOT gfMovMan                             ;Check that there are no manual
                                              ;movements
    IF Axis:st_still                          ;Check that the axis is stopped
      Axis:setvel=(slVelAxis*Axis:maxvel)/100 ;Sets the speed of the axis
      Axis:setpos = slQuotaPos                ;Sets the placement quota
      START Axis                              ;Execute the start of the axis
      gfMovAuto = 1                           ;Automatic movement in progress reports
    ENDIF
  ENDIF
ENDIF
 
IF ifStop                                     ;Waits for the STOP input
  IF NOT Axis:st_still                        ;Check that the axis is not stationary
    STOP Axis                                 ;Execute the stop of the Axis
  ENDIF
ENDIF
 
IF gfMovAuto                                  ;Check reporting ongoing
                                              ;automatic movement
  IF Axis:st_still                            ;Check that the axis is stopped
    gfMovAuto = 0                             ;Resets the status of automatic movement
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
; Management manual movements
;-------------------------------------------------------------------------------------
IF ifAvMan                                    ;Awaiting the input of manual operation
  IF NOT (gfMovAuto OR gfMovMan)              ;Check that there are no movements
                                              ;automatic or manual
    IF Axis:st_still                          ;Check that the axis is stopped
      Axis:setvel=(slVelAxis*Axis:maxvel)/100 ;Sets the speed of the axis
      MANFW Axis                              ;Forward axis in manual
      gfMovMan = 1                            ;Manual movement in progress reports
    ENDIF
  ENDIF
ENDIF
IF ifInMan                                    ;Awaiting the input of manual operation
  IF NOT (gfMovAuto OR gfMovMan)              ;Check that there are no movements
                                              ;automatic or manual
    IF Axis:st_still                          ;Check that the axis is stopped
      Axis:setvel=(slVelAxis*Axis:maxvel)/100 ;Sets the speed of the axis
      MANBW Axis                              ;Forward axis in manual
      gfMovMan = 1                            ;Manual movement in progress reports
    ENDIF
  ENDIF
ENDIF
IF gfMovMan                                   ;If the axis moves in manual
  IF NOT (ifAvMan OR ifInMan)                 ;If the forward or backward inputs
                                              ;manual are OFF
    STOP Axis                                 ;Stop the axis
    gfMovMan = 0                              ;Remove the manual movement
                                              ;axis report
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
; Final operations
;-------------------------------------------------------------------------------------
  WAIT 1
  JUMP MAIN
 
END