Two cylinders, CYL1 and CYL2, are flanged to one another to first transport a workpiece from position HOME to MID . At MID , a second part is press fit to the workpiece and the system then moves to END . Here, the assembled workpiece is removed and the transport mechanism then moves back to position HOME . The position of CYL1 is detected by the sensors HOME1 and END1, and The position of CYL2 is detected by the sensors HOME2 and END2. The positions of the workpiece are given by the boolean expressions

HOME = HOME1 & HOME2
MID = END1 & HOME2
END = END1 & END2 .