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Best way would be, if you have a signal "Control On" and use the falling edge for a cancel (this is what the ControlOn add-on does). Alternatively this code should work (not tested):   IF( _cancelSet ) THEN // Cancel must be reset in the same way like Execute Station.Unit.Cancel := FALSE; _cancelSet := FALSE; END_IF _emStopR(CLK := PnozMultiAddon.OutImm.EmStop); IF( _emStopR.Q ) THEN Station.Unit.Cancel := TRUE; _cancelSet := TRUE; END_IF     But the signal is flickering during emergency stop which causes many Cancels with the code above:   You could try to add a TOF to avoid the flickering. ... View more

Thank you for testing. We will update the add-on to prevent the exception. Cg, %GRR, etc. are not yet included in our example project Digital Machine. As of now there is only the documentation which is very good (explanation of Cg, create special operation mode, explanation of chains, etc.). ... View more

Please provide a screenshot of the call stack:   ... View more