the component itself such that the user programmable elevation above the core or spent fuel pool will then take into consideration that the grapple may be carrying a component of given length that may not be allowed to strike or damage equipment that is located below such pre programmable elevation example embodiments provide the permissive control system with a system reset in step s 10 at any instance when 1 the grapple cable is slack i e the grapple cable may be at rest as opposed to being taught as in the case where the grapple may be carrying a component or otherwise suspended above a component before or after component pick up or drop off and 2 the grapple hooks change position i e change from open to closed or closed to open it should also be noted that the systems permissive control related to any specific step in a pick up or drop off sequence for instance a permissive control that is not allowing the grapple to be manually raised because the grapple was never closed during pick up may be manually bypassed i e the system is reset by either turning off the permissive control system additionally example embodiments allow the system to automatically reset if an error message occurs this may be the case when the mast is moved to a pick up.