Delta DVP-ES2 - Manual (Page 271)

3 . I n s t r u c t i o n S e t
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89. 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:
X35
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