GoSub *Init
*Loop
        For mIter=1 To 6
            p2=Plt 1, mIter
            GoSub *Place
            GoSub *Pick
            Next mIter
   If M_Cstp<>1 Then GoTo *Loop
*Init
    Ovrd 50
    Def Plt 1,pPlt2, pPlt2+(0,60,0,0,0,0), pPlt2,,6,1,1
        If M_Svo<>1 Then Servo On
            Wait M_Svo=1
        If M_EHOrg<>1 Then EHOrg 1
            Wait M_EHOrg=1
    pTmp=P_curr
        If pTmp.Z<150 Then
            pTmp.Z=150
            Mvs pTmp
            EndIf
    Mov pHome
    Return
*Pick
    Mov p1, -50
    Mvs p1
    Dly 0.1
    EHClose 1, 70, 70
    Wait M_EHBusy=0
    Mvs p1, -50
    Return
*Place
    Mov p2,-50    'do pozycji p2, wyżej o 50mm
    Mvs p2        'smooooth do pozycji p2
    Dly 0.1         'czekaj 0.1se
    EHOpen 1,70,70
    Wait M_EHBusy=0
    Mvs p2, -50    'smoooth do p2
    Return