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• Copy current position to shadow variables
• If currently in the positive closed position (Df=1)
  • Move (MA) to negative closed position P2
  • If error checking is enabled (Ec=1), check drift at previous, negative closed position (call X9)
  • Hold until movement complete
  • Set Df=1, indicating current position is positive closed position
• Else (any other position but P1)
  • Move (MA) to positive closed position P1
  • Check If error checking is enabled (Ec=1), check drift at previous, positive closed position (call X8)
  • Hold until movement complete
  • Set Df=-1, indicating current position is negative closed position
• EndIf
• Copy current encoder count (C2) to shadow register Cs
• Signal state change to 90 (Toggle movement complete)
• Return

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