Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual X35

5 . Sequential Function Chart

8.Zero return mode:

a)SFC:

S1

X35

S10

X4

S11

X1

S12

b) Ladder Diagram:

S1	X35
S
S10
S
	X4
S11
S
	X1
S12
S

RST

RST

Y0

RST

Y3

SET

RST

SET

RST

RST

Y0

SET

RST

Y3

SET

SET

RST

Y4	Release balls
Y1	Stop lowering robot arm
	Raise robot arm to the
	upper-limit (X4 = ON)
Y2	Stop shifting to right
	Shift to left to reach the
	left-limit (X1 = ON)

M1043 Enable zero return completed flag

S12 Zero return completed

S10	Enter zero return mode
Y4	Release balls
Y1	Stop lowering robot arm
	Raise robot arm to the
	upper-limit (X4 = ON)
S11
Y2	Stop shifting to right
S12	Shift to left and to reach
	the left-limit (X1 = On)

M1043 Enable zero return completed flag

S12 Zero return completed

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