_xDone, xError=> _xError); IF _xDone OR _xError THEN _iDS := 0; END_IF END_CASE]]> 0 THEN _uiMoveId := _uiMoveId + 1; M_ClearCmd(); xError := TRUE; _iState := 0; END_IF END_CASE]]> xExecDone, xError => xExecError); IF xExecDone THEN _iSSM := 33; END_IF IF xExecError THEN M_CmdAbort(); END_IF // Set trf 33: // SetTrf(32.38 , 27.52, 91, 0, 180, -90) M_ExecuteCmd(E_Meca_Cmds.SET_TRF, 32.38, 27.52, 91, 0, 180, -90, xDone => xExecDone, xError => xExecError); IF xExecDone THEN _iSSM := 34; END_IF IF xExecError THEN M_CmdAbort(); END_IF // Move to save position 34: M_ExecuteCmd(E_Meca_Cmds.MOVE_LIN, 0, 0, 10, 0, 0, 0, xDone => xExecDone, xError => xExecError); IF xExecDone THEN _iSSM := 40; END_IF IF xExecError THEN M_CmdAbort(); END_IF // Robot ready 40: M_StateComplete(); END_CASE]]>