pick & place machine

Hi All

My name is Marcel. I am new to this forum but not to EMC.
I already build two machines using EMC.
I build a Pick & Place machine for Sm components but the software remains to be a problem.
With machine tools one can rely on Cad-Cam and EMC. The problem I have for P/P you have different locations for picking. " Like a tool change location “ Could one create a new G code that's like what you have for a drilling cycle only with extra functions?
What I need for picking is X and Y move to pickup location one, " its always the same location" then Z moves down to pick the component, " not always the same amount " it must then switch on the vacuum and lift the component. The next block will move X Y to location of placing; next Z will place it and switch the vacuum off. Is there an easy way of doing this?

Regards
Marcel