 Program
   Robot Program
     Pallet
       Pattern: Line
         StartPos_1
         EndPos_1
       PalletSequence
         Approach
         'Wait: 2.0'
         PatternPoint_1
         'Waypoint_2'
         Wait: 1.0
         Call SubP_sendposeV4
         Wait: 20.0
         'Waypoint_1'
         'Wait: 20.0'
         'Call'
         'Waypoint_1'
         'Wait: 20.0'
         'Call'
         'Waypoint_2'
         'Waypoint_2'
         Set
         'Wait: 1.0'
         Exit
   SubP_sendposeV4
     flagg_1≔0
     'received_list≔[0,0]'
     'Wait: 0.5'
     If flagg_1≟0
       socket_open("192.168.0.100",30000)
       'flagg_1≔1'
     'Wait received≟1'
     pose_1=get_forward_kin()
     socket_send_string(pose_1)
     'While received≟0'
     receive_data=socket_read_ascii_float(6)
     socket_close()
     'Wait: 0.5'
     'pose_1≔p[0,0,0,0,0,0]'
     'received≔0'
     'Halt'
