//

===========================================================================
====
// POSITIONING AND HOMING

Interface_eje01.Homing.In.xActivate := FALSE;
Interface_eje01.Homing.In.xStart := FALSE;

Interface_eje01.ProfileGeneration.Positioning.In.lrVelocity := 0;
Interface_eje01.ProfileGeneration.Positioning.In.lrAcceleration :=
FW_ACC_DIR;
Interface_eje01.ProfileGeneration.Positioning.In.lrDeceleration :=
FW_DACC_DIR;
Interface_eje01.ProfileGeneration.Positioning.In.lrPosition := 0;
Interface_eje01.ProfileGeneration.Positioning.In.xStart := FALSE;

Interface_eje05.Homing.In.xActivate := FALSE;
Interface_eje05.Homing.In.xStart := FALSE;

Interface_eje05.ProfileGeneration.Positioning.In.lrVelocity := 0;
Interface_eje05.ProfileGeneration.Positioning.In.lrAcceleration :=
FW_ACC_DIR;
Interface_eje05.ProfileGeneration.Positioning.In.lrDeceleration :=
FW_DACC_DIR;
Interface_eje05.ProfileGeneration.Positioning.In.lrPosition := 0;
Interface_eje05.ProfileGeneration.Positioning.In.xStart := FALSE;

Interface_eje03.Homing.In.xActivate := FALSE;
Interface_eje03.Homing.In.xStart := FALSE;

Interface_eje03.ProfileGeneration.Positioning.In.lrVelocity := 0;
Interface_eje03.ProfileGeneration.Positioning.In.lrAcceleration :=
FW_ACC_PIVOT;
Interface_eje03.ProfileGeneration.Positioning.In.lrDeceleration :=
FW_DACC_PIVOT;
Interface_eje03.ProfileGeneration.Positioning.In.lrPosition := 0;
Interface_eje03.ProfileGeneration.Positioning.In.xStart := FALSE;

Interface_eje04.Homing.In.xActivate := FALSE;
Interface_eje04.Homing.In.xStart := FALSE;

Interface_eje04.ProfileGeneration.Positioning.In.lrVelocity := 0;
Interface_eje04.ProfileGeneration.Positioning.In.lrAcceleration :=
FW_ACC_EXT;
Interface_eje04.ProfileGeneration.Positioning.In.lrDeceleration :=
FW_DACC_EXT;
Interface_eje04.ProfileGeneration.Positioning.In.lrPosition := 0;
Interface_eje04.ProfileGeneration.Positioning.In.xStart := FALSE;

Interface_eje02.Homing.In.xActivate := FALSE;
Interface_eje02.Homing.In.xStart := FALSE;

Interface_eje02.ProfileGeneration.Positioning.In.lrVelocity := 0;
Interface_eje02.ProfileGeneration.Positioning.In.lrAcceleration :=
FW_ACC_AV;
Interface_eje02.ProfileGeneration.Positioning.In.lrDeceleration :=
FW_DACC_AV;
Interface_eje02.ProfileGeneration.Positioning.In.lrPosition := 0;
 Interface_eje02.ProfileGeneration.Positioning.In.xStart := FALSE;

Interface_eje06.Homing.In.xActivate := FALSE;
Interface_eje06.Homing.In.xStart := FALSE;

Interface_eje06.ProfileGeneration.Positioning.In.lrVelocity := 0;
Interface_eje06.ProfileGeneration.Positioning.In.lrAcceleration :=
FW_ACC_AV;
Interface_eje06.ProfileGeneration.Positioning.In.lrDeceleration :=
FW_DACC_AV;
Interface_eje06.ProfileGeneration.Positioning.In.lrPosition := 0;
Interface_eje06.ProfileGeneration.Positioning.In.xStart := FALSE;

//=========================================================================
======
// SCM RESET
Interface_eje03.xReset := FALSE;
Interface_eje01.xReset := FALSE;
Interface_eje05.xReset := FALSE;
Interface_eje04.xReset := FALSE;
Interface_eje02.xReset := FALSE;
Interface_eje06.xReset := FALSE;

//=========================================================================
======
// JOGGING AND AXIS HABILITATION

Interface_eje01.ProfileGeneration.Jog.In.lrVelocity := 0;
Interface_eje01.ProfileGeneration.Jog.In.lrAcceleration :=
FW_ACC_DIR;
Interface_eje01.ProfileGeneration.Jog.In.lrDeceleration :=
FW_DACC_DIR;
Interface_eje01.ProfileGeneration.Jog.In.xJogCCW := FALSE;
Interface_eje01.ProfileGeneration.Jog.In.xJogCW := TRUE;

Interface_eje05.ProfileGeneration.Jog.In.lrVelocity := 0;
Interface_eje05.ProfileGeneration.Jog.In.lrAcceleration :=
FW_ACC_DIR;
Interface_eje05.ProfileGeneration.Jog.In.lrDeceleration :=
FW_DACC_DIR;
Interface_eje05.ProfileGeneration.Jog.In.xJogCCW := FALSE;
Interface_eje05.ProfileGeneration.Jog.In.xJogCW := TRUE;

Interface_eje03.ProfileGeneration.Jog.In.lrVelocity := 0;
Interface_eje03.ProfileGeneration.Jog.In.lrAcceleration :=
FW_ACC_PIVOT;
Interface_eje03.ProfileGeneration.Jog.In.lrDeceleration :=
FW_DACC_PIVOT;
Interface_eje03.ProfileGeneration.Jog.In.xJogCCW := FALSE;
Interface_eje03.ProfileGeneration.Jog.In.xJogCW := TRUE;

Interface_eje04.ProfileGeneration.Jog.In.lrVelocity := 0;
Interface_eje04.ProfileGeneration.Jog.In.lrAcceleration :=
FW_ACC_EXT;
Interface_eje04.ProfileGeneration.Jog.In.lrDeceleration :=
FW_DACC_EXT;
Interface_eje04.ProfileGeneration.Jog.In.xJogCCW := FALSE;
 Interface_eje04.ProfileGeneration.Jog.In.xJogCW := TRUE;

Interface_eje02.ProfileGeneration.Jog.In.lrVelocity := 0;
Interface_eje02.ProfileGeneration.Jog.In.lrAcceleration :=
FW_ACC_AV;
Interface_eje02.ProfileGeneration.Jog.In.lrDeceleration :=
FW_DACC_AV;
Interface_eje02.ProfileGeneration.Jog.In.xJogCCW := FALSE;
Interface_eje02.ProfileGeneration.Jog.In.xJogCW := TRUE;

Interface_eje06.ProfileGeneration.Jog.In.lrVelocity := 0;
Interface_eje06.ProfileGeneration.Jog.In.lrAcceleration :=
FW_ACC_AV;
Interface_eje06.ProfileGeneration.Jog.In.lrDeceleration :=
FW_DACC_AV;
Interface_eje06.ProfileGeneration.Jog.In.xJogCCW := FALSE;
Interface_eje06.ProfileGeneration.Jog.In.xJogCW := TRUE;

ELSEIF selectedButton = 31 THEN

// BRAZO: PIVOTE HACIA ARRIBA (HORIZONTAL)
(*
IF REFERENCIADO_BRAZO THEN
_GreenBlink();
E2 := FALSE;
E3 := FALSE;
ELSE
_GreenBlink();
E2 := TRUE;
E3 := FALSE;
END_IF
*)
EstadoAutoGlob := 0;
EstadoAutoGlob_Y := 0;
EstadoAutoGlob_Inclinado := 0;
Interface_eje03.Basic.In.xEnable_ApplicationStop := TRUE;
Interface_eje03.Basic.In.xEnable_EmergencyStop := TRUE;

Interface_eje03.ProfileGeneration
4o