ultra5000 support

We need direct support about the ultra5000,
my techsupport contract is over, so,
I can pay for this time support if anybody can help to us.
we have 2-question
#1
I NEED STOP THE DRIVE MOVEMENT IF A DIGITAL OUTPUT IS "ON" EVEN IF THE DRIVE TRIP WAS NOT COMPLETED.
CAN SOMEONE HELP TO US?
#define HOMESW 2/* SENSOR LIM (HOME)*/
#define STARTSIGNAL 1 /*RUNNING IF PLC OK SIGNAL O:24/7*/
#define STOPSIGNAL 4 /*SIGNAL FROM DVT VISION*/
int main (void)
{
while (!StopRequested())
{
InitMotionLibrary();
AxisEnable();
MoveSetAcc(1000000);
MoveSetVel(1000000);
MoveSetDec(100000);
AxisDefinePos(0);/*INICIA AUTOMATICO*/
if ((InputGetState(STARTSIGNAL)== ON) && (InputGetState(STOPSIGNAL)== OFF))
{
MoveAbsolute(5200);
if (InputGetState(STOPSIGNAL)== ON)
MoveAbort();
while (MoveInProgress()) {/* loop */}
}
else if (((InputGetState(HOMESW)== OFF) && (InputGetState(STARTSIGNAL)== OFF)) || ((InputGetState(STOPSIGNAL)== ON) && (InputGetState(HOMESW)== OFF)))
{
MoveIncremental(-5200);
while (MoveInProgress()) {/* loop */}
}
}
AxisDisable();
return 0;
}
#2
we need the home routine
If anybody can help to us please contact at e-mail [email protected] and give us the phone num. thanks
thanks