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

5 . Sequential Function Chart

b) Ladder Diagram:

	S2 M1041 M1044
	S			SET	S20	Enter auto operation mode
	S20			Y1
	S					Lower robot arm
		X5	X0
				SET	S30
		X5	X0
S30				SET	S40
	S			SET	Y4	Clip balls
				TMR	T0	K30
		T0
				SET	S31
S31		X4				Raise robot arm to the
	S			Y0
						upper-limit (X4 = ON)
		X4		SET	S32
S32		X2
	S			Y2		Shift to right
		X2		SET	S50
S40
	S			SET	Y4	Clip balls
				TMR	T1	K30
		T1
				SET	S41
S41		X4				Raise robot arm to the
	S			Y0
		X4		SET	S42	upper-limit (X4 = ON)
S42		X3
	S			Y2		Shift to right
		X3		SET	S50
S50		X5
	S			Y1		Lower robot arm
		X5
				SET	S60
S60
	S			RST	Y4	Release balls
				TMR	T2	K30
		T2
				SET	S70
S70		X4				Raise robot arm to the
	S			Y0
						upper-limit (X4 = ON)
		X4		SET	S80

S80

S

X1

Y3

X1

S2

RET

END

Shift to left to reach the left-limit (X1 = On)

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