.PROGRAM Palletizer()
; this program will create a stacked pallet of parts, 4L x 5W x 3H
	MOVE #home	; stat at this precision point
	Reset	; all outputs off
	Closei	; default position of the gripper
	PC=0	; initialize PC parts counter
	A=0		; reset z-loop
40	B=0		; reset y-loop
30	C=0		; reset x-loop
20	SET sdrop = SHIFT(drop by a*50,b*60,c*40)
	CALL sub.motion()
	PC=PC+1	; increment parts counter
	Type /C20, /X15, "Number of parts moved: ", PC, /C20
	C=C+1	; increment phantom position
	If C<4 goto 20	; loop if x row not filled
	B=B+1	; increment phantom position
	If B<5 goto 30	; loop if y row not filled
	A=A+1	; increment phantom position
	If A<3 goto 40	; loop if z row now filled
	MOVE #home	; end program at this point
.END
.PROGRAM sub.motion()
	APPRO pick, 30
	SPEED 20
	MOVES pick
	BREAK
	OPENI	; grab the part
	DEPARTS 50
	APPRO sdrop, 50
	SPEED 20
	MOVES sdrop
	BREAK
	CLOSEI	; release the part
	DEPARTS 60
	RETURN
.END