Program
   Init Variables
   BeforeStart
     Action DO[8]=On
     Action DO[9]=Off
   Robot Program
     MoveJ
       Waypoint_2
       Action DO[9]=Off
       Action DO[8]=On
     var_1:=var_1+1
     Call SubProgram_1
   SubProgram_1
     Pallet
       Pattern: Square
         1st_Corner_1
         2nd_Corner_1
         3rd_Corner_1
         4th_Corner_1
       PalletSequence
         PatternPoint_1
         Action DO[8]=Off
         Action DO[9]=On
         Wait 1.0
         Waypoint_1