I'm working on a school project that deals with many different robot and vision system. I'm interested into getting all of them to pick objects and place them in a certain order. We have UR5 with SICK PLB for Bin picking, YUMI with integrated vision and AUBO with SICK PIM60. 

Currently I'm the responsible one to develop AUBO with PIM60 
So I have a script program to pick and place already and it goes 

::LoopA::
if located = 1
then 
.
.
.
drop position A
else 
goto LoopA

::LoopB::
if located = 1
then 
.
.
.
drop position B
else 
goto LoopB

::LoopC::
if located = 1
then 
.
.
.
drop position C
else 
goto LoopC

::LoopD::
if located = 1
then 
.
.
.
drop position D
else 
goto LoopD

My current programming method is lengthy and not sure if its right. It is also tedious to program as in each if statement it is just to contain a different end waypoint and contains other stuff which is similar in other "loops" to drop the product. However, it allows me to do what is needed and it does not jump to next and any drop point if no object is detected. Please advice for improvements.