IF NOT bEnable THEN
	iStep := 0;
	Active := FALSE;
	Done := FALSE;
	Error := FALSE;
	bFirstDone := FALSE;

ELSIF bEnable AND NOT bFirstDone THEN
	bFirstDone := TRUE;
	Active := TRUE;
	Done := FALSE;
	Error := FALSE;
	iStep := 10;

END_IF

Case iStep of

10:
	arAxisCtrl_gb[AxisIndex].Admin._OpMode := MODEPOSREL;
	iStep := 20;

20:
	bZylinderDown := TRUE;
	arAxisCtrl_gb[AxisIndex].Admin._OpMode := MODEPOSREL;
	arAxisCtrl_gb[AxisIndex].PosMode.Distance := rRightTurn * 360;
	arAxisCtrl_gb[AxisIndex].PosMode.Velocity := rVel;
	arAxisCtrl_gb[AxisIndex].PosMode.DynValues.Acceleration := rAcc;
	arAxisCtrl_gb[AxisIndex].PosMode.DynValues.Deceleration := rDec;

	IF arAxisStatus_gb[AxisIndex].Admin.CmdDone THEN
		bZylinderDown := FALSE;
		iStep := 30;
	END_IF

30:
	arAxisCtrl_gb[AxisIndex].Admin._OpMode := MODEPOSREL;
	arAxisCtrl_gb[AxisIndex].PosMode.Distance := -(rLeftTurn * 360);
	arAxisCtrl_gb[AxisIndex].PosMode.Velocity := rVel;
	arAxisCtrl_gb[AxisIndex].PosMode.DynValues.Acceleration := rAcc;
	arAxisCtrl_gb[AxisIndex].PosMode.DynValues.Deceleration := rDec;

	IF arAxisStatus_gb[AxisIndex].Admin.CmdDone THEN
		bZylinderUp := TRUE;
		iStep := 100;
	END_IF

100:
	bZylinderUp := FALSE;
	bZylinderDown := FALSE;
	Active := FALSE;
	Error := FALSE;
	Done := TRUE;
	bFirstDone := FALSE;

END_CASE