I am writing my first pallet pick and place application and am having a little trouble shifting position from my base. Base position will be at my first pick location with 7 additional pick locations 3 rows deep. Work Visual is indicating a Syntax error on the curly brackets and commas in the below code. Any help would be appreciated.
IF ($IN[iInboundTrayPosition1]==TRUE) THEN
; Set base to X0,Y0,Y0 where first pick position is located.
; Move to palletise inbound position.
PTPCLEARTRAY1_$POS_ACT_MES {X + arow[nCounter] , Z +50.00}
LINPICK1_$POS_ACT_MES {X + arow[nCounter] , Z -aDepth[nCounter]}
$OUT[oTool1Open]=TRUE
IF $IN[iGripperClosed]==TRUE THEN
rTryAgain()
ENDIF
PTPCLEARTRAY1_$POS_ACT_MES {X + arow[nCounter] , Z +50.00}
; Palletise part pick logic goes here.
; Move to perch position above inbound tray.
; Move to alternate home position for inbound & outbound.
ELSE
Thank You