..the program worked and it executed perfectly-so, I am happy.
Great, but it is never too late for some "lessons learned".
I learned something watching your video. For 2 minutes, the focus was on a PLC input, the reed sensor switch at the bottom of the wheel. Why? I kept thinking, "when is he going to show the devices doing the work, the motor, the gearing, the PLC, and the program?" Instead we see the picture of the seat switch while the wheel goes round and round. Obviously this little switch is supposed to be Very Important. Why?
I think the answer is related to my previous quesion asking why students focus on the Inputs:
http://www.plctalk.net/qanda/showthread.php?t=78143
In this case the reed switch was supposed to signal to the PLC that a seat was in the Unload/Load position, so that it could be stopped at exactly that point. Many of us tried to figure out ways to make that happen. Unfortunately you concentrated on ways to have The Switch do the work of making the wheel stop. In reality, the only device controlled by the PLC that could stop the wheel was the motor. Most any good programmer could have made the wheel run through its cycle (using timers) without ever looking at that Very Important Do-Nothing Switch. So in the final program, does the switch actually stop the wheel? I bet on "NO!". Instead, the motor is cogged to a stop by a reversed voltage and a timer, when the switch happens to be closed. It appears to work, the sun is shining, the bees are buzzing, and some wrong ideas were learned.
Finally after 2 minutes, I saw the entire wheel and realized that a simple spring brake rubbing against the seat top horizontal hanger would have stopped the wheel in the forward (loading) direction, at any seat with no motor reversing needed. With a little testing, the spring could be made to compress as the wheel braked to a stop, then decompress as the wheel reversed slightly until the seat settled exactly above a loading position. As any PLC program, it needs careful complete control of the motor. The genius should be in the program, not in the switch inputs.