Pick and Place AB PLC with Pulse or Analog

Okay, So I need to move a Z axis to pick and then place 4 tiers of product. The pick is always at same location, the place will have 4 different tiers. I can use a rodless cylinder for x movement, as start and stop will be static. I have an older Emerson EN-214 servo drive to use for Z axis. I can setup for analog or pulse. My PLC experience is with AB RS500, so I'm looking to use either analog control with encoder feedback (for position) or PTO for pulse/direction. I'm looking for sample code for AB Micrologix (1100, 1200, 1400, or 1500) with motion using either analog with HSC, or PTO... can anyone help me? Thanks, John

Dear sir did you find how to use PTO in AB 1400... or how it works