Delta DVP-ES2 User Manual download pdf (Page 647)

5. Sequential Function Chart

8. Zero return mode:

a) SFC:

S1

S10

X35

S11

X4

S12

X1

RST Y4

RST Y1

Y0

RST

Y2

Y3

SET

M1043

RST S12

Release balls

Stop lowering robot arm

Raise robot arm to the

upper-limit (X4 = ON)

Stop shifting to right

Shift to left to reach the

left-limit (X1 = ON)

Enable zero return completed flag

Zero return completed

b) Ladder Diagram:

X3

5

SET

S10

S

S1

RST

Y4

S

S10

RST

Y1

Y0

X4

SET

S11

RST

Y2

S

S11

Y3

X1

SET

S12

SET

M1043

S

S12

RST

S12

Enter zero return mode

Release balls

Stop lowering robot arm

Raise robot arm to the

upper-limit (X4 = ON)

Stop shifting to right

Shift to left and to reach

the left-limit (X1 = On)

Enable zero return completed flag

Zero return completed

5-25

1 2 ... 642 643 644 645 646 647 648 649 650 651 652 ... 701 702

Comments to this Manuals

No comments