Thanks Buddy! The XYZ application is to put glue in an object which have different shapes, such as square, round or circle and s-curve. My hardware design or configurations are as follows: 1 unit of FX2N-16MR 2 units of FX2N-20GM 3 units of Mitsubishi servo motor with driver 1 unit of Mitsubishi 5.7" touch screen I hope you can send me a PLC code or program for this application and I will study the program online. Thanks a lot.