background program loop

i have this program set up (i think) to run in the background on boot to verify the robot is in its home position to report to the plc.

1) what would be the best way to loop it to have this program always running in the background and report when the robot enters and exits its home position in real time (with as little delay or lag as possible)?

2) Is line 7 necessary to turn the output off when it exits the home position or will it do that automatically?

i figured out what i was doing wrong. line 7 was indeed unnecessary and did not do what i thought it does. i set that routine as a power on event, removed line 7 and after a restart it worked perfectly. thank you again sir