Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Sensor

3. Instruction Set

80.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.

81.When S2 (auto mode) is initialized, i.e. selected, auto mode will NOT be executed if M1043 = ON or any of the state between D1 to D2 I is ON.

Program Example 2:

Robot arm control (by IST instruction):

82.Control purpose:

Select the big balls and small balls and move them to corresponding boxes. Configure the control panel for each operation.

83.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.

84.I/O Devices

Left-limit X1 Y0			Right-limit X2 Right-limit X3
			(big balls)	(small balls)
Upper-limit X4	Y3	Y2
	Y1
Upper-limit X5
	Ball size		Big	Small
	sensor X0

85.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):

zSingle step: the operation proceeds with one step every time when Auto ON is pressed.

zOne 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.

zContinuous 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.

3 - 1 5 3