The control system is the same as Control System, except that it does not have the 'circle planner ' block. It is only possible to switch between mouse motion and automatic motion, where the automatic motions is the sorting and shuffling of the three blocks. Also, it has a forth axis and the AxisVector has four degrees.

When detecting blocks, the TCP moves down for a first step. Then it switches to force mode. In that mode, it moves forward by applying a constant force. This force should be as low as possible to avoid loud clicking when making contact with a block while it must be high enough to overcome friction.