HOME11                   Home x & y axes
     VEL 400                  vel=400mm/sec
     ACC 0.3                  acc=0.3 G
     TAG 1                    set placeholder 1
     WTON14                   wait on input14
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    execute subroutine1
  10 MOVP10                   bad part drop off
  11 MOVP2                    good part place
     EXSR2                    execute subroutine2
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    execute subroutine1
  10 MOVP10                   bad part drop off
  11 MOVP3                    good part place
     EXSR2                    execute subroutine2
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    execute subroutine1
  10 MOVP10                   bad part drop off
  11 MOVP4                    good part place
     EXSR2                    execute subroutine2
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    execute subroutine1
  10 MOVP10                   bad part drop off
  11 MOVP5                    good part place
     EXSR2                    execute subroutine2
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    execute subroutine1
  10 MOVP10                   bad part drop off
  11 MOVP6                    good part place
     EXSR2                    execute subroutine2
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    execute subroutine1
  10 MOVP10                   bad part drop off
  11 MOVP7                    good part place
     EXSR2                    execute subroutine2
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    execute subroutine1
  10 MOVP10                   bad part drop off
  11 MOVP8                    good part place
     EXSR2                    execute subroutine2
     MOVP1                    move to pick pt.
     GOTO1                    start over by going
                              to tag1

     BGSR1                    pick subroutine1
     BTON303                  move z down
     WTON12                   wait for extend
     BTON302                  close gripper
     BTOF303                  move z up
     WTON13                   wait for retract
     EDSR                     end subroutine

     BGSR2                    place subroutine2
     BTON303                  move z down
     WTON12                   wait for extend
     BTOF302                  open gripper
     BTOF303                  move z up
     WTON13                   wait for retract
     EDSR                     end subroutine