// Go to Park position 1 macro

double parkZ = -30;
double parkX = 0;
double parkY = 0;

if(!exec.GetLED(56)||!exec.GetLED(57)||!exec.GetLED(58)) // If machine was not homed then it is unsafe to move in machine coordinates, stop here...
{
  MessageBox.Show("The machine was not yet homed, home the machine before run to parking position!");
  exec.Stop();
  return;
}

double XCoordMove = parkX - exec.GetXpos();
double XCoordEnd = exec.GetXmachpos() + XCoordMove;
double XMin = exec.mainform.UCsetup.UCset.Axis[0].UC100axis.SoftLimitN;
double XMax = exec.mainform.UCsetup.UCset.Axis[0].UC100axis.SoftLimitP;

double YCoordMove = parkY - exec.GetYpos();
double YCoordEnd = exec.GetYmachpos() + YCoordMove;
double YMin = exec.mainform.UCsetup.UCset.Axis[1].UC100axis.SoftLimitN;
double YMax = exec.mainform.UCsetup.UCset.Axis[1].UC100axis.SoftLimitP;

if (XCoordEnd < XMin || XCoordEnd > XMax ||
    YCoordEnd < YMin || YCoordEnd > YMax) {
  MessageBox.Show("Parking relative location of " + parkX + "," + parkY +
  	          " is outside the machine table.\n" +
		  "Abs X = " + Math.Round(exec.GetXmachpos(), 4) +
		  ", Park X = " + Math.Round(XCoordEnd, 4) +
		  ", Range = " + XMin + ".." + XMax + "\n" +
		  "Abs Y = " + Math.Round(exec.GetYmachpos(), 4) +
		  ", Park Y = " + Math.Round(YCoordEnd, 4) +
		  ", Range = " + YMin + ".." + YMax + "\n");
  return;
}

int originalmodalmode = exec.actualmodal; // remember the modal mode

while(exec.IsMoving()){}

// Move to ParkZ, but only if we are lower than park position
if (exec.GetZmachpos() < parkZ) {
  exec.Code("G00 G53 Z"+ parkZ); // Move Z up first to park1 Z position
  while(exec.IsMoving()){}
  exec.Wait(200);
}

exec.Code("G00 X" + parkX +" Y" + parkY); // Move to XY park1 position
while(exec.IsMoving()){}

exec.Code("G" + originalmodalmode); // Set system back to the original distance mode