begin
  movej(appro(x_pPoint,{0,0,-30,0,0,0}),tStylo[0],mNormal)
  movel(x_pPoint,tStylo[0],mNormal)  
  waitEndMove()
  movel(appro(x_pPoint,{0,0,-30,0,0,0}),tStylo[0],mNormal)
end