Delta DVP-ES2 - Manual (Page 645)

5 . S e q u e n t i a l F u n c t i o n C h a r t
“manual operation mode”, S1 initiates “zero return mode” and S2 initiates “auto mode”. Thus,
the three step points of initial state have to be programmed in first priority.
3. When S1 (zero return mode) is initialized, i.e. selected, zero return will NOT be executed if any
of the state S10~S19 is ON.
4. When S2 (auto mode) is initialized, i.e. selected, auto mode will NOT be executed if M1043 =
ON or any of the state between D
1
to D is ON.
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Program Example 2:
Robot arm control (by IST instruction):
1. Control purpose:
Select the big balls and small balls and move them to corresponding boxes. Configure the
control panel for each operation.
2. Motion of the Robot arm:
lower robot arm, clip balls, raise robot arm, shift to right, lower robot arm, release balls, raise
robot arm, shift to left to finish the operation cycle.
3. I/O Devices
Y0
Y1
Y2 Y3
Left-limit X1
Upper-limit X4
Upper-limit X5
Right-limit X2
(big balls)
Right-limit X3
(small balls)
Big Small Ball size
sensor X0
4. Operation mode:
Single step: Press single button for single step to control the ON/OFF of external load.
Zero return: Press zero return button to perform homing on the machine.
Auto (Single step / One cycle operation / Continuous operation):
z Single step: the operation proceeds with one step every time when Auto ON is
pressed.
z One cycle operation: press Auto ON at zero position, the operation performs one full
cycle operation and stops at zero point. If Auto OFF is pressed during the cycle, the
operation will pause. If Auto ON is pressed again, the operation will resume the cycle
and stop at zero point.
z Continuous operation: press Auto ON at zero position, the operation will perform
continuous operation cycles. If Auto OFF is pressed, the operation will stop at the end
of the current cycle.
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