7 Application Instructions API 50-99 5. When switched to S2 (auto operation) mode, any On of the S in D 1 ~ D 2 or M1043 = On will result in no auto operation. Program Example 2: 1. Robot arm control (by IST instruction): a) Motion request: Separate the big ball and small ball and move them to different boxes. Configure the control panel for the control. b) Motions of the robot arm: descending, clipping ball, ascending, right shifting, releasing ball, ascending, left shifting. c) I/O devices: Left-limit X1 Right-limit X2 (big) Right-limit X3 (small) Upper-limit X4 Y2 Y3 Y0 Y1 Lower-limit X5 Big Small Ball size sensor X0 2. Operation modes: Manual operation:
Turn On/Off of the load by a single button. Zero return: Press the zero return button to automatically zero-return the machine. Auto operation: a) Single step operation: Press “auto start” button for every one step forward. b) One cycle operation: Press “auto start” button at the zero point. After a cycle of auto operation, the operation will stops at the zero point. Press “auto stop” button in the middle of the operation to stop the operation and press “auto start” to restart the operation. The operation will resume until it meets the zero point. c) Continuous operation: Press “auto start” button at the zero point to resume the operation. Press “auto stop” to 3. The control panel:
operate until it meets the zero point. Start Power Start Zero Return Auto Start X15 X16 Stop Power Auto Stop X17 Clip Ball Ascend Right Shift Step X12 X20 X22 X24 Zero Return X11 One cycle Operation X13 Left Shift Release Ball Descend X21 X23 X25 Continuous Operation X14 Manual Operation X10 a) Ball size sensor X0. b) Robot arm: left limit X1, big ball right limit X2, small ball right limit X3, upper limit X4, lower limit X5. c) Robot arm: ascending Y0, descending Y1, right shifting Y2, left shifting Y3, clipping Y4. DVP-PLC APPLICATION MANUAL 7-44