1. Source code : DEF Robotstop_SI() IF $IN[zTrig_Input] THEN Robot_Stopped =TRUE Stop_Feedback =ROB_STOP(#PATH_MAINTAINING) ENDIF IF NOT $IN[zTrig_Input] AND Robot_Stopped THEN ROT_STOP_RELEASE() Robot_Stopped =FALSE ENDIF END 2.Data : DEFDAT Robotstop_SI PUBLIC DECL BOOL Stop_Feedback=TRUE DECL BOOL Robot_Stopped=FALSE DECL INT zTrig_Input =16 ENDDAT