#include common.const.h
//Watch on given sensor number, Soft Stop if sensor triggered
//used for homing, surface measure, tool length measure etc

#define input  var00
#define state   var01


main ()
{

message=PLCCMD_TRIGGER3_OFF;
texit=timer+2;do{timer++;}while(timer<texit);    
message=PLCCMD_TRIGGER4_OFF;
texit=timer+2;do{timer++;}while(timer<texit); 

input=eparam&0xFFFF;	//P-parameter
state=eparam>>16;	//L-parameter
timer=0;

message=PLCCMD_MOTION_CONTINUE;
texit=timer+30;do{timer++;}while(timer<texit);

ready=0;

do
{
 timer++;
 a=portget(input);
 if (state==0)
 {
    if (a==0) {ready=1;};
 };
 if (state!=0)
 {
    if (a!=0) {ready=1;};
 };
}while(ready==0);

//message=PLCCMD_MOTION_SKIP;
message=PLCCMD_MOTION_SOFT_SKIP;
texit=timer+2;do{timer++;}while(timer<texit);

exit(99);
};