Saw more fireworks today and lost another relay, but this time we have something to show for it. We decided to get rid of the idea to use switches and are now using timers in the PLC. We made our own IR detector and got that working. We even manage to put everything together and got the arm to close it's hand and then lift the object. Using the IR detector and the PLC it is now in a completely automated setup. But wait that is not all we even posted video of it working on our website so go check it out!