A customer of mine had purchased an end finisher from a machine tool builder. They ran it for months and wanted to be able to integrate it into their robotic cell. The PLC that was in it was a Mitsubishi and the cell was being controlled by a Siemens S7-1500. I reprogrammed the machine from scratch in siemens and installed an ET 200SP. For some further upgrade to help their process, I was able to remove the air over oil cylinders that were driving the spindles and replace them with some servo driven linear actuators (siemens S210). This allowed them to peck the part and help save their tooling, with added precision.
Before
During
After
Video of machine cycling
Video of machine cycling from panel