video1.0<iframe src="https://www.loom.com/embed/b18997eecd264e5d9a330bb6b768ea5e" frameborder="0" width="1280" height="960" webkitallowfullscreen mozallowfullscreen allowfullscreen></iframe>9601280Loomhttps://www.loom.com9601280https://cdn.loom.com/sessions/thumbnails/b18997eecd264e5d9a330bb6b768ea5e-9fcd0cd3880fef74.gif366.089I focused on getting the machine, and all the conditions, ready to return to home position. In the main routine, Rung 7, I traced what must be true before the OTE executes, checking the OTE status and mode. I built the sensor conditions so the cylinder status indicates the left hand part clamps are fully retracted, using a 250 ms de bounce timer to handle bouncing at the end of stroke. Then I repeated the same idea for the left hand clips 1, 3, 5, 7, and 8, requiring not extended and retracted inputs. No action was requested from you in the video.