The key to why you are failing in this project is that you are thinking about it incorrectly.
You are trying to analyze the action in terms of the motor movement. But the motor movement is only part of the operation. The filling of the bin is the other part.
So forget about moving the motor for a while.
You have three possible states:
1. The system is not trying to fill either bin.
2. The system is trying to fill the left bin.
3. The system is trying to fill the right bin.
This system will transfer from 1 <-> 2 or 1 <-> 3. State '1' is just not being in either state 2 or 3.
Now let's break down one of the 'fill' states. It is started by being in state '1', a bin being at the limit switch and the bin not being full.
Note that I have mention nothing yet about the position of the fill mechanism.
Now the 'fill' state is broken down into two sections.
1. The motor must move the fill mechanism so it is over the bin.
2. Once the mechanism is over the bin, the fill mechanism turns on to fill the bin.
As mentioned in the previous paragraph, the indication that the bin is full will terminate this state.
The nature of the scan will prevent both states 2 and 3 from being on at the same time but you can put in a NC of the other state if you wish.
I know you have not mentioned an output to the fill mechanism.
If you specify the actual Micrologix 1000 Input address for each of your identified inputs and the Output address for the motor movement we can begin to actually make progress.