Program:

10 mov p2
20 mvs p1
30 hclose 1
40 dly 1
50 mvs p2
60 mov p3
70 mvs p4
80 hopen 1
90 dly 1
100 mov p3
110 mov p99
120 end

'|program start from the position P99 to P2

'|after moves o position 1
'|open the grab device
'|wait for 1 second
'|comes back to P2
'|moves forward to P3
'|come to position p4
'|open the grab device
'|waits one second
'|come back to P3
'|comes to end position

Address:
238,45.1,190,-52,180,R,A
238,45,240,-52,180,R,A
65,200,377,-90,180,R,A
65,200,327,-90,180,R,A
-85,201,327,-90,180,R,A
180,30,370,0,180,R,A