In Fanuc CNC a code position registers (for example PR[1]) contains the X,Y, and Z integer values th define a pick up position for the robot. Registers (for example R[28]) hold the value of an integer. In lines 79 a check is done for the Y value of the position and if the value is out of the acceptable rang the user alarm 4 is set in line 17. Fill in the code for rows 12 to 15 that performs a similar function as the check for the Y value of PR[1] and activates the user alarm 4 if the value of X is greater than 200 or less than 600. The Fanuc position registers have the following format: PR[register number, coordinate value] Where the coordinate values correspond to X=1,Y=2, and Z=3 1: PAYLOAD [2] ; 2: ; 3: R[10: Max Height]=980 ; 4: ; 5: PR[1]=LPOS ; 6: ; 7: !Check position Y; 8: R[28]=PR[1,2] ; 9: IF R[28]>1400 OR R[28]10:; 11: !Check position X ; 12: 13: 14: 15: 16: LBL[24] 17: UALM[4] ; 18: GO[2:ALLARM]=5; 19: ABORT ; 20: LBL[25] ; 21