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Delta DVP-ES2 User Manual Page 649

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5. Sequential Function Chart
b) Ladder Diagram:
END
RET
SET S20
SET S30
SET Y4
Y0
X5
S31
S
X4
TMR T0
SET S32
S2
S
M1041 M1044
S20
S
S30
S
Y1
X0
SET S40
X5 X0
SET S31
T0
K30
Y2
S32
S
X2
SET S50
X2
SET Y4
TMR T1
S40
S
SET S41
T1
K30
Y0
S41
S
X4
SET S42
Y2
S42
S
X3
SET S50
X3
Y1
S50
S
X5
SET S60
RST Y4
TMR T2
S60
S
SET S70
T2
K30
Y0
S70
S
X4
SET S80
Y3
S80
S
X1
X1
S2
X4
X4
X4
X5
Enter auto operation mode
Lower robot arm
Clip balls
Raise robot arm to the
upper-limit (X4 = ON)
Shift to right
Clip balls
Raise robot arm to the
upper-limit (X4 = ON)
Shift to right
Lower robot arm
Release balls
Raise robot arm to the
upper-limit (X4 = ON)
Shift to left to reach
the left-limit (X1 = On)
5-27
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