HOME11                   Home x & y axes
     VEL 400                  vel=400mm/sec
     ACC 0.3                  acc=0.3 G
     LET 10       2           v10 = position var
     TAG 1                    set placeholder 1
     WTON14                   wait on input14
     TAG 2		       set placeholder 2
     MOVP1                    move to pick pt.
     BTOF302                  open gripper
     EXSR1                    exec. pick subr.
  10 MOVP10                   bad part, dropoff
  11 MOVP*10                  good part, move to
                              pos. in var. 10
     EXSR2                    exec. place subr.
     CPEQ10       9        900final place pt.?
     ADD 10       1           increment position
 N900GOTO2                    if not, keep going
     LET 10       2           if so, reset var.
     GOTO1                    and start over by
                              going to tag1

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

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