7 Application Instructions API 50-99 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 S Robot arm left shifting to left limit (X1 On) Enable zero return completed flag Zero return operation completed Auto Operation Modes SFC:
S2 M1044 M1041 S20 Y1 X5 X5 X0 X0 S30 S40 T0 S31 X4 X4 Y0 T1 S41 Y0 X4 X4 S32 X3 X2 Y2 S42 Y2 X2 X3 S50 Y1 X5 X5 S60 T2 S70 X4 Y0 X4 Y3 X1 S80 X1 S2 DVP-PLC APPLICATION MANUAL 7-46 1 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 SET Y4 SET Y4 TMR T0 K30 TMR T1 K30 RST Y4 TMR T2 K30