It is presumed here that the water spray pumps are activated at the same time as the motor which rotates the rollers

It is presumed here that the water spray pumps are activated at the same time as the motor which rotates the rollers. You are not required to take this action into account! A 5) Forward movement of the gantry is stopped by the gantry forward limit switch. At this point, the gantry reverse command is given. The rollers still rotate; A 6) Gantry reverse operation AND rotation of the rollers are stopped by the gantry rear limit switch. A command is given to raise the horizontal roller up. At this point, the washing counter is updated; A 7) If required, a latching emg push button must stop the cycle at any time (emergency stop of all motors) and activate a buzzer and a 0.5/0.5 sec flasher. Throwing back the eng PB must interrupt the buzzer and flasher immediately. Operation then resumes from where it had been stopped. Use a single pole double throw (SPDT) mushroom PB for this purpose. 6.1) Establish a list of input and output field devices; 6.2) Develop a GRAFCET to solve the automation problem. Keep the original nomenclature when specifying triggers and actions; 6.3) Write the equations for transitions, steps and actions (Use Eq G4); 6.4) Transform the GRAFCET equations into a handwritten PLC ladder program in accordance with the Allen Bradley standards.