TO = Axis .
When you have Axises then you create a MCC Unit, and select in the Axis enable Command Block the Axis you will enable.
Compile the unit and attach the program in the execution system to a motionTask.
In the properties of the MotionTask activate the checkbox "start after RUN" and the task automaticaly starts wehen the CPU ist switched to run.
create a emptx mcc program and assign it to the TechnologicalFaultTask and to the PeripherialFaultTask.