main()
{
 c=gvarget(17006); //get C-position in PLC units (0.01 degree)

 m=18000; //180 degree in PLC units (0.01 degree)
 if (c>m)
 {
  do{ c=c-36000; }while (c>m); //remove the whole positive turns 
 };

 m=0-m; //-180 degree in PLC units (0.01 degree)
 if (c<m)
 {
   do{ c=c+36000; }while (c<m); //remove the whole negative turns 
 };

 gvarset(7080,1000); //set speed 3000 degree/s;
 timer=10;do{timer--;}while(timer>0);
 g0moveA(0x0,0x20,0-c); //C axis, move to C=0
 timer=200;do{timer--;}while(timer>0);
 do { code=gvarget(6060); }while(code!=0x4d);//wait till motion finished

 timer=100;do{timer--;}while(timer>0); //delay for any case

 exit(99);
};