kawasaki as programming

hallo,guys
if I have 4 points p1,p2,p3,p4 p1 pick point p2 pick high postion p3 put point p4 put high postion,and it's must be sequence from p1-p4,if p3 jump to p1, maybe put the machine broken, that's a diaster
So, I encounter this question ,and I wanna know how to solve it ?
I expected this :
I have 10 kinds of as program, so I must change this ,but sometimes must press the emergency button ,so robot's location it's uncertain.
So I must design a safe operation mode,and it must protect the people and machines ,and how to do it ?