wait_motion_end()
{
  timer=2; do{timer--;}while (timer>0);  //wait motion started
  do 
   { 
      ex=0; code=gvarget(6060);
      if (code==0x4d) {ex=1;};
      if (code==0x57) {ex=1;};
    } while(ex==0);
};

square()
{
  gvarset(8630,50000); //speed/frequency 50kHz
  gvarset(8631,100);   //Time ~ 0.1sec (in milliseconds)

  g0moveA(0x01,0x1001,16000);	       //absolute programming; Y axis;
  wait_motion_end();
  g0moveA(0x01,0x1002,16000);	       //absolute programming; Y axis;
  wait_motion_end();
  g0moveA(0x01,0x1001,8000);	       //absolute programming; X axis;
  wait_motion_end();
  g0moveA(0x01,0x1002,8000);	       //absolute programming; Y axis;
  wait_motion_end();


};