switch (ManiobraZero){

case 10:
If (LimitesOk==0)
{ManiobraZero=0
Frenando=1
bitsAlarmas(33)=bitsAlarmas(33) | $2
NumAveria=331}
if (Motor[1].AmpEna==1 && Motor[2].AmpEna==1 &&
Motor[3].AmpEna==1 && Motor[5].AmpEna==1) {ManiobraZero=15}
else {BuscarCeroRevolver=0
ManiobraZero=20}
Break;
case 15:
BuscarCeroRevolver=90
BuscarCeroChaveta=2100
call timer(0.1)
ldata.motor = 3 // motor #3 for all coming
commands (JOG, HOME...)
Motor[3].HomeOffset = 0 // can put home offset to move
motor zero from NOT input
Motor[3].MaxPos = 0 // remove soft limit plus
Motor[3].MinPos = 0 // remove soft limit minus
if (Pot_Signal_Image_servoZ == 0) // check if not already
on NOT input and if not, go fast on it
{ManiobraZero=20}
else
{ManiobraZero=25}
Break;
case 20:
Motor[3].JogSpeed = 30/1000 // JOG speed is 10 mm/sec
cmd"#3JOG+";
ManiobraZero=22;
Break;
case 22:
if (Pot_Signal_Image_servoZ == 1){ManiobraZero=25}
Break;
case 25:
Motor[3].JogSpeed = 10/1000 // JOG speed is 10 mm/sec
cmd"#3JOG-";
ManiobraZero=27;
Break;
case 27:
if (Pot_Signal_Image_servoZ == 0){ManiobraZero=30}
Break;
case 30:
Motor[3].JogSpeed = 1/1000 // JOG speed is 1 mm/sec
cmd"#3JOG+";
ManiobraZero=35;
Break;
case 35:
if (Pot_Signal_Image_servoZ == 1){ManiobraZero=40}
Break;
case 40:
Motor[3].JogSpeed = 1/1000 // JOG speed is 1 mm/sec
cmd"#3JOG-";
ManiobraZero=45
Break;
case 45:
if (Pot_Signal_Image_servoZ == 0) // check if not already
on NOT input and if not, go fast on it
{ManiobraZero=50}
Break;
case 50:
cmd"#3JOG/";
ManiobraZero=55
Break;
case 55:
call timer(0.1)
ManiobraZero=60
Break;
case 60:
if (Motor[3].DesVelZero == 1) {ManiobraZero=70}
Break;
case 70:
call timer(0.1)
homez 3 // force motor position zero
here
Motor[3].MaxPos = 0 //X_M1_softlim_plus
Motor[3].MinPos = 0
call timer(0.1)
//Forzamos posicion actual del motor en este punto.
motor[3].HomePos=motor[3].homePos-(AlturaMesa+5) //HomePosM3 contiene
la altura de la mesa
call timer(0.1)
EnCeroZ=1
if (ManiobraZero==70){ManiobraZero=80}
Break;
}