I'm assuming You want to write Your programs by hand, instead on the robot itself.
Here follow an small example.
PROGRAM MyProg STACK = 2048 -- This is a comment
CONST
VAR pnt0009P : POSITION
xtn0002X, xtn0001X, xtn0003X, xtn0004X, xtn0005X : XTNDPOS FOR ARM[1]
pnt0004P, pnt0005P, pnt0006P, pnt0007P, pnt0008P : POSITION
p_f_i_prel, p_prel, pnt0001P, pnt0002P, pnt0003P : POSITION
ROUTINE CD_End EXPORTED FROM CDetect
ROUTINE CD_Start(ai_Coll : INTEGER) EXPORTED FROM CDetect
ROUTINE ToolFrame(ai_tool, ai_frame, ai_arm : INTEGER()) EXPORTED FROM TT_TOOL
BEGIN
-----------------------
$STRESS_PER := 50
$TOOL_RMT := FALSE
$LIN_SPD := 0.30000001
$SPD_OPT := SPD_CONST
$ARM_SPD_OVR := 100
$ARM_ACC_OVR := 100
$ARM_DEC_OVR := 100
$TERM_TYPE := COARSE
-----------------------
ToolFrame(10, 0)
CD_Start(21)
----------------------------
MOVEFLY JOINT TO p_f_i_prel ADVANCE
MOVEFLY JOINT TO pnt0005P ADVANCE
MOVE LINEAR TO p_prel,
WITH $PROG_SPD_OVR = 50,
WITH $PROG_ACC_OVR = 25,
WITH $PROG_DEC_OVR = 25,
ENDMOVE
CD_End
END MyProg Routines like ToolFrame and CD_Start are inside in other libraries (TT_Tool and CDetect, respectively), so they must be declared on the declaration section of the program.
Since You didn't told what is the controller You will be using, I'm assuming it is a C5G Plus. So would be a good idea to use WinCRC software to write Your programs, since it can find syntax errors.
Are using logic commands between these movements?
If yes, robot will make small stops, and would be better use WITH CONDITION statement in combination with the MOVE instructions.
I would try to use WITH or WITH CONDITION clauses.
Something like this
ROUTINE mv20VP_10VP
BEGIN
ToolFrame(tGreifer, 1, 1)
$FLY_DIST := 200
IF $FDIN[doAutoAktiv] = OFF THEN
MOVEFLY JOINT TO p20VP ADVANCE
ENDIF
nActPos := 2010001
MOVEFLY JOINT TO p10VP_20VP_3 ADVANCE
WITH nActPos := 2010002,
ENDMOVE
MOVEFLY JOINT TO p10VP_20VP_2 ADVANCE
WITH nActPos := 2010003,
ENDMOVE
MOVEFLY JOINT TO p10VP_20VP_1 ADVANCE
WITH nActPos := 2010004,
ENDMOVE
MOVE JOINT TO p10VP
WITH nActPos := 10,
ENDMOVE
END mv20VP_10VP
