How I can improve program that controls AC Drive with PROFIdrive using GO (with multiple Tasks).

Hello, 

I write program that controls the work of AC Drive using GO (device mapping 0-8) and DI to control status.

I write it using If ENDIF and WaitUntil instructions to control the logic of a Drive.

I want to upgrade the program maybe using RECORD and FUNC but the documention is not helpful enough for me to implement it and I don't have any ideas what more instructions I can use. I made some test with it but don't have enough time to implement/solve it.

It needs to be easily transferable to other Tasks, I used AliasIO for this but maybe you have some tips or examples with similar applications.