1	OUTSIG 1,2
      REM warning buzzer and light on
	PAUSE 30
	OUTSIG -1
      REM warning buzzer off     
10	HOME
15	OPEN
 	MOVE TO -120,0,-700,1020,0
	MOVEGH TO 0,1660
      REM move to clear position
20	MOVEGH 20,0
 	IFSIG 1 THEN GOTO 20   
      REM check block sensor input if no block then goto 20
	MOVE 0,20,-20,130,0
      REM move to pickup position
	CLOSE 60
      REM close gripper
	MOVE 0,-20,20,-120,0
      REM move to clear position
	MOVEGH  0,-3000
	MOVE TO -120,0,-700,1020,200
      REM move to pallet clear
	IFSIG -2 THEN GOTO 40
	IFSIG 2,-3 THEN GOTO 50
	IFSIG 3 THEN GOTO 60
40	MOVE 0,0,0,270,0
	OPEN -60
	MOVE TO -120,0,-700,1020,200
	MOVE TO -120.0.-700.1020.0
	MOVEGH 0.3000
	TYPE "POSITION 1 place first box"
	GOTO 20
      REM place first box
50	MOVE 0,0,-15,200,0
	OPEN -60
	MOVE TO -120,0,-700,1020,200
	MOVE TO -120,0,-700,1020,0
	TYPE "POSITION 2 place second box"
	GOTO 20
60	MOVE 0,0,-22,150,0
	OPEN -60
	MOVE TO -120,0,-740,1020,200
	MOVE TO -120,0,-700,1020,0
	MOVEGH 0,3000
	TYPE "POSITION 3 place third box"
	OUTSIG 4
	PAUSE 10	
      REM push pallet with cylinder
70	OUTSIG -2,3
      REM warning light off finish light on	
	PAUSE 30
	END

    Source: geocities.com/user_35007/stuff/robot

               ( geocities.com/user_35007/stuff)                   ( geocities.com/user_35007)