Delta Electronics Programmable Logic Controller DVP-PLC - Manual (Page 325)

7 Application Instructions API 50-99
D V P - P L C A P P L I C AT I O N M A N U A L 7-41
Manual Operation Mode
X20
SET
RST Y4
Y4 S
S0
X21
X22 Y1
Y0
X23 Y0
Y1
X24 X4
Y2
Y3
X25 X4
Y3
Y2
Clipping tightly
Clipping released
Descending
Ascending
Interlocked
Right shifting
Left shifting
Interlocked
Robot arm ascends to upper limit (X4 On)
Zero Return Mode
SFC:
S1
S10
X15
S11
X4
S12
X1
RST Y4
RST Y1
Y0
RST Y2
Y3
SET M1043
RST S12
Clipping released
Descending stops
Robot arm ascends to upper limit (X4 On)
Right shifting stops
Robot arm left shifting to left limit (X1 On)
Enable zero return completed flag
Zero return operation completed
Ladder Diagram:
X15
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
Clipping released
Descending stops
Robot arm ascends to upper limit (X4 On)
Right shifting stops
Robot arm left shifting to left limit (X1 On)
Enable zero return completed flag
Zero return operation completed