PROGRAM
'Program 2
'TODO: edit your program here

' Run this as long as the main parser wants to

while (BIT bDriveMotionProgram)

' Do nothing if the E-Stop isn't pressed

	while (BIT bEStopClear and BIT bProgZeroRunning and BIT bProgOneRunning)
		if (BIT bMaxPosErrExceeded and NOT BIT bKillAxisZero)
			set bKillAxisZero
			set bKillAllMovesZero
		endif
	wend

' Kill the axis and clear any move requests.
'Note: it will keep doing this every time, so even if something tries to
'clear thes flags, it will ensure a halt.
	
	set bDisableDriveOnKill
	set bKillAxisZero
 	set bKillAllMovesZero
 	
 	if (BIT bAxisZeroJogActive)
 		dwl 0.2
 		jog off axis0
 	endif
 	
 	if (BIT bEnableAxisZero)
 		dwl 0.2
 		clr bEnableAxisZero
 	endif
 	
 	clr bActuatorMove
 	
wend

'If we exit somehow, make sure the other programs also die.

clr bDriveMotionProgram

ENDP