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IF eState <> StepperControl_STATE.INIT THEN
	IF eControlType = StepperControlType.DIRECT THEN 
		ClearOutputPins();
	ELSE
		IF iDisable <> -1 THEN
			GVL.GPIO.axOutputs[iDisable] := TRUE;
		END_IF				
	END_IF
END_IF
IF hIecTask <> RTS_INVALID_HANDLE THEN
	eState := StepperControl_STATE.SHUTDOWN;
	
	stSleepUs := TO_ULINT(udiMasterCycleTime * 2 * (uiInstance+1));
	SysTaskWaitSleepUs(hTask, stSleepUs);
    
	//delete task