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5. Sequential Function Chart
8. Zero return mode:
a) SFC:
S1
S10
X35
S11
X4
S12
X1
RST Y4
RST Y1
Y0
RST
Y2
Y3
SET
M1043
RST S12
Release balls
Stop lowering robot arm
Raise robot arm to the
upper-limit (X4 = ON)
Stop shifting to right
Shift to left to reach the
left-limit (X1 = ON)
Enable zero return completed flag
Zero return completed
b) Ladder Diagram:
X3
5
SET
S10
S
S1
RST
Y4
S
S10
RST
Y1
Y0
X4
SET
S11
RST
Y2
S
S11
Y3
X1
SET
S12
SET
M1043
S
S12
RST
S12
Enter zero return mode
Release balls
Stop lowering robot arm
Raise robot arm to the
upper-limit (X4 = ON)
Stop shifting to right
Shift to left and to reach
the left-limit (X1 = On)
Enable zero return completed flag
Zero return completed
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