The robot illustrated in Figure 44(a) (Example 14) has a pneumatic horizontal Z-axis actuator added that moves the robot base from left to right. This allows the robot to access two locations when the...

The robot illustrated in Figure 44(a) (Example 14) has a pneumatic horizontal Z-axis actuator added that moves the robot base from left to right. This allows the robot to access two locations when the Z-axis is in the left position (Z pneumatic valve off) and two additional locations when the Z-axis is in the right position (Z pneumatic valve on). The part drop point, position B in Figure 44(a), has the Zaxis in the left position. Design a ladder logic system that moves the part to position B when the Z-axis is left and position B when the Zaxis is right. Input terminal 8 true indicates that the Z-axis should be in the right position. The Z-axis left and right sensors are terminals 9 and 10, respectively. The Z-axis valve is connected to terminal 6 of the same output module. Design a program for this robot sequence. A cycle is started when the start selector switch is on and when the pickup sensor indicates that a part is in the pickup location. Use the limit sensors to control actuator and gripper sequences.