VECTOR gbreak_lin1;
VECTOR gbreak_ang1;

while(1)
{
   if(key_w) //set limit (stop the rotating joint)
   {
        pX3con_getposition(hg1, gbreak_lin1, gbreak_ang1);
	pX3con_hinge_setflag(hg1, PX_HJ_LIMIT_ENABLED, 1);
	pX3con_hinge_setlimit(hg1, vector(gbreak_ang1.x, gbreak_ang1.x+0.01, 0), vector(0,0,0));
	while(key_w) wait(1);
   }
   if(key_e) //reset limit
   {
	pX3con_hinge_setflag(hg1, PX_HJ_LIMIT_ENABLED, 0);
 	pX3con_hinge_setlimit(hg1, NULL, NULL);
	while(key_e) wait(1);
   }
   wait(1);
}