4 Step Ladder Instructions Zero Return Mode SFC: S1 X15 S10 Clipping released Descending stops X4 Y0 Robot arm ascends to upper limit (X4 On) S11 Right shifting stops X1 Y3 Robot arm left shifting to left limit (X1 On) S12 Enable zero return completed flag Zero return operation completed Ladder Diagram:
S S1 Enter zero return mode S Clipping released Descending stops Robot arm ascends to upper limit (X4 On) S Right shifting stops Robot arm left shifting to left limit (X1 On) S Enable zero return completed flag Zero return operation completed DVP-PLC Application Manual 4-22 RST Y4 RST Y1 RST Y2 SET M1043 RST S12 1 X15 SET S10 0 RST Y4 RST Y1 Y0 X4 SET S11 1 RST Y2 Y3 X1 SET S12 2 SET M1043 RST S12 SET S10 RST Y4 RST Y1 SET M1043 RST S12 SET S11 RST Y2 SET S12