Delta DVP-ES2 Instrukcja Użytkownika Pobierz pdf (Strona 269)

100

101

3. Instruction Set

3-153

80. When S1 (zero return mode) is initialized, i.e. selected, zero return will NOT be executed if any

of the state S10~S19 is ON.

81. When S2 (auto mode) is initialized, i.e. selected, auto mode will NOT be executed if M1043 =

ON or any of the state between D

to D

2 I

is ON.

Program Example 2:

Robot arm control (by IST instruction):

82. Control purpose:

Select the big balls and small balls and move them to corresponding boxes. Configure the

control panel for each operation.

83. Motion of the Robot arm:

lower robot arm, clip balls, raise robot arm, shift to right, lower robot arm, release balls, raise

robot arm, shift to left to finish the operation cycle.

84. I/O Devices

Y2Y3

Left-limit X1

Upper-limit X4

Upper-limit X5

Right-limit X2

(big balls)

Right-limit X3

(small balls)

Big

Small

Ball size

sensor X0

85. Operation mode:

Single step: Press single button for single step to control the ON/OFF of external load.

Zero return: Press zero return button to perform homing on the machine.

Auto (Single step / One cycle operation / Continuous operation):

z Single step: the operation proceeds with one step every time when Auto ON is

pressed.

z One cycle operation: press Auto ON at zero position, the operation performs one full

cycle operation and stops at zero point. If Auto OFF is pressed during the cycle, the

operation will pause. If Auto ON is pressed again, the operation will resume the cycle

and stop at zero point.

z Continuous operation: press Auto ON at zero position, the operation will perform

continuous operation cycles. If Auto OFF is pressed, the operation will stop at the end

of the current cycle.

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Delta DVP-ES2 Instrukcja Użytkownika Strona 269

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