Program
   BeforeStart
     Gripper Activate
   Robot Program
     Gripper Close (1)
     MoveJ
       Waypoint_1
       Waypoint_2
       Gripper Open (1)
       Grip Check
         If object detected          
           MoveJ
             Waypoint_11
             Waypoint_4
             Waypoint_5
             Waypoint_66
             Waypoint_77
             Waypoint_88
             Gripper Close (1)
             Waypoint_99
             Waypoint_100
         Else
           Popup: Object Not Detected
     MoveJ
       Waypoint_110
       Waypoint_140b
       Gripper Open (1)
       Waypoint_120
       Gripper Close (1)
       Grip Check
         If object detected          
           MoveJ
             Waypoint_130
             Waypoint_140
             Waypoint_3
             Waypoint_160
             Waypoint_170
             Gripper Open (1)
             Waypoint_180
         Else
           Popup: Object Not Detected