begin
  // on suppose que le robot n'est pas au contact avant l'appel de picknplace
  movej(appro(x_pSaisie,{0,0,-100,0,0,0}),tStylo[0],mNormal)  
  movel(x_pSaisie,tStylo[0],mNormal)  
  close(tStylo[0])
  movel(appro(x_pSaisie,{0,0,-100,0,0,0}),tStylo[0],mNormal)  
  
  movej(appro(x_pDepose,{0,0,-100,0,0,0}),tStylo[0],mNormal)  
  movel(x_pDepose,tStylo[0],mNormal)  
  open(tStylo[0])
  movel(appro(x_pDepose,{0,0,-100,0,0,0}),tStylo[0],mNormal)  
   
end