Fanuc LR Mate Cylinder Assembly

Students designed a program that assembles a cylinder.
1st the cylinder looks for a reflective cylinder to be present
2nd the robot moves down varies the part is present and picks it up to detect the holes located on the bottom.
3rd the robot uses a skip condition to search for holes using digital inputs
4th the robot places the cylinder in the assembly chamber
5th a piston is loaded
6th a spring is loaded
7th a cap is picked up and the tabs on the cap are detected using skip condition
8th cap is placed on the cylinder,and turned to tighten it on.
9th the cylinder picks it up and puts it in the tube.